基于SINS/DVL/GPS的AUV组合导航标定方法的研究及其误差分析  

Research on SINS/DVL/GPS Integrated Navigation System Calibration Method and the Error Analysis of AUV

作　　者：吕志刚[1] LV Zhigang(No.710 Research Institute,CSIC,Yichang 443003)

机构地区：[1]中国船舶重工集团公司第七一〇研究所,宜昌443003

出　　处：《舰船电子工程》2018年第6期33-36,共4页Ship Electronic Engineering

摘　　要：为了进一步提高自主水下航行器(AUV)捷联惯导(SINS)与多普勒计程仪(DVL)组合导航定位精度,需要准确标定出SINS与DVL之间的安装误差角以及DVL的刻度系数。论文系统的介绍了组合导航系统的标定方法和流程,最后分析了组合导航系统的误差来源。In order to improve the precision of AUV SINS/DVL integrated navigation system＇s orientation,it is necessary to ac- curately calibrate the nfisalignment angle between SINS and DVL and the scale coefficient of DVL. This paper introduces the inte- grated navigation system calibration method and process, Finally the error source of integrated navigation system are analyzed.

关 键 词：SINS/DVL组合导航 惯性导航 多普勒计程仪 标定 误差源 

分 类 号：U674[交通运输工程—船舶及航道工程]