基于SINS/DVL与声学定位系统的水下组合导航技术研究  

Study of Underwater Integrated Navigation Technology Based on SINS/DVL and Acoustic Positioning System

作　　者：李旻 LI Min(Naval Residence in the 438 Factory,Wuhan 430060)

机构地区：[1]海军驻438厂军代室,武汉430060

出　　处：《舰船电子工程》2018年第12期60-64,共5页Ship Electronic Engineering

摘　　要：捷联式惯性导航系统具有结构简单、隐蔽性高、自主性强等优点,但随着导航时间的增加,系统会出现累积误差,从而严重影响水下航行器的导航定位精度。由于海水的良好导电性,使得GPS无法在海水中对惯导系统进行有效校准。水下声学定位系统采用在海底或海面安装能发射声信号的信标、应答器及水听器,可以在海洋环境中对水下航行器进行有效定位,从而为惯导系统提供位置校准信息。多普勒计程仪可以有效测量航行器相对海底的速度,从而为惯导系统提供速度校准信息。论文阐述了水下常用的定位导航技术和信息融合方法,构建了惯导系统、多普勒计程仪和水下长基线定位系统交互辅助的组合导航模型,为今后更方便、准确地进行研究作基础。Strapdown inertial navigation system(SINS)has the advantages of simple structure,high concealment and strong autonomy.But the cumulative error of SINS will occur with the increase of navigation time,which will seriously affect the navigation and positioning accuracy.The GPS is unable to calibrate the SINS effectively in seawater because of the good electrical conductivity of the seawater.Underwater acoustic positioning system uses acoustic emission signal that can effectively determine the position of the underwater vehicle in the marine environment.Therefore,it can provide location information for calibration of INS.Dopper Velocity Logger(DVL)can effectively measure the vehicle speed relative to seabed,so as to provide information for speed calibration of INS.This paper describes the underwater positioning navigation technology and information fusion method.An integrated navigation model based on SINS,DVL and long baseline positioning system with interactive assistance is constructed,which will offer a basis for further research in the future.

关 键 词：捷联式惯性导航系统 多普勒计程仪 声学定位系统 卡尔曼滤波 

分 类 号：TB568[交通运输工程—水声工程]