基于垂直约束的深海拖曳系统USBL/DVL组合导航算法  

USBL/DVL integrated navigation algorithm for deep-sea towing system based on vertical constraints

作　　者：王振杰[1] 刘慧敏 杨慧良 贺凯飞[1] 单瑞[2,3] WANG Zhenjie;LIU Huimin;YANG Huiliang;HE Kaifei;SHAN Rui(School of Geosciences,China University of Petroleum(East China),Qingdao 266580,China;Laboratory for Marine Mineral Resources,Qingdao National Laboratory for Marine Science and Technology,Qingdao 266071,China;China Geological Survey Qingdao Institute of Marine Geology,Qingdao 266071,China)

机构地区：[1]中国石油大学(华东),青岛266580 [2]青岛海洋科学与技术国家实验室海洋矿产资源评价与探测技术功能实验室,青岛266071 [3]中国地质调查局青岛海洋地质研究所,青岛266071

出　　处：《中国惯性技术学报》2019年第5期670-676,共7页Journal of Chinese Inertial Technology

基　　金：国家重点研发计划项目（2016YFB0501700,2016YFB0501705）;青岛海洋科学与技术国家实验室开放基金项目（QNLM2016ORP0401）;中国地质调查局项目（DD20191003）;国家自然科学基金青年项目（41604027)

摘　　要：为提高深海水下拖曳系统的定位精度,分析了深海拖曳系统压力传感器与超短基线定位系统(USBL)以及多普勒计程仪的耦合原理,给出了基于垂直约束下的USBL定位的基本原理及拖曳体直线运动状态下的开窗平滑算法。采用非线性的无迹卡尔曼滤波模型对超短基线定位、多普勒测速、深度、斜距、姿态及角速率信息进行融合。针对声学数据常见的粗差观测,结合自适应抗差滤波算法,提出基于垂直约束的自适应抗差卡尔曼滤波算法。最后仿真和实测实验证明在5000 m水深条件下,在航行方向上位置精度较传统滤波算法提高了近2 m。基于垂直约束自适应抗差无迹卡尔曼滤波算法可充分利用高精度观测信息,提高深海拖曳系统的定位精度和容错性。In order to improve the positioning accuracy of deep-sea underwater towing system,the navigation principle of underwater towed system is introduced based on ultra-short baseline(USBL)system and Depth gauge,and the depth constraint and the smoothing algorithm are given to improve the positioning accuracy of ultra-short baseline system.A method of multi-sensor data fusion using Unscented Kalman filtering is proposed,and the USBL position,DVL speed,depth,acoustic slant distance,and fiber optic gyroscope information are fused.In view that the USBL observation has relatively poor accuracy and has much more outliers,an adaptive robust Kalman filter algorithm based on vertical constraints is proposed.Simulation and 5000 m deep-sea experiments verify that the position accuracy of navigation direction is nearly 2 m higher than that of traditional filtering algorithm,which show that the proposed algorithm can make full use of the high-precision observation information and improve the positioning accuracy of the deep-sea towing system.

关 键 词：垂直约束 超短基线定位系统 无迹卡尔曼滤波 多普勒计程仪 自适应抗差滤波 

分 类 号：P229.5[天文地球—大地测量学与测量工程]