某型AUV运载器的定位方法与误差分析  

Positioning Method and Error Analysis of a Type of AUV Carrier

作　　者：史博 陈琳[3] 戴宪邦 宋泓儒 芦雪松[1] SHI Bo;CHEN Lin;DAI Xianbang;SONG Hongru;LU Xuesong(Harbin Engineering University,College of Underwater Acoustics Engineering,Harbin 150001,China;Harbin Engineering University,College of Physics and Optoelectronic Engineering,Harbin 150001,China;Shanghai Marine Equipment Research Institute,Shanghai 200031,China;Shanghai Marine Technology Research Institute,Shanghai 200032,China)

机构地区：[1]哈尔滨工程大学水声工程学院,哈尔滨150001 [2]哈尔滨工程大学物理与光电工程学院,哈尔滨150001 [3]上海船舶设备研究所,上海200031 [4]上海船舶工艺研究所,上海200032

出　　处：《船舶工程》2020年第6期98-104,共7页Ship Engineering

摘　　要：传统AUV依靠水下惯性导航设备自主定位的方法无法实时进行水下信息感知和系统控制。水声定位是AUV定位导航技术的一个研究领域,可用于水下运动目标定位与导航、水下静止目标勘测等。文章分析阐述三种经典AUV定位方法,进一步研究AUV快速定位解算原理,论证影响AUV运载器在深海工作时产生的定位误差来源并进行仿真试验分析,最终将研究成果应用在目前现有某型AUV运载器上,实现自身水下定位、导航与远程遥控。The traditional AUV relies on the autonomous positioning method of underwater inertial navigation equipment which is difficult to perform underwater information perception and system control in real time.The underwater acoustic positioning is a research area of AUV positioning and navigation technology,which can be used for positioning and navigation of underwater moving targets and underwater stationary target surveying.The article analyzes and elaborates three classic AUV positioning methods and further studies the AUV rapid positioning solution principle.It demonstrates the sources of positioning errors that affect the AUV vehicle when working in the deep sea,and conducts simulation test analysis.Finally the research results are applied to a certain type of existing AUV carrier,which realizes underwater self-positioning,navigation and remote control.

关 键 词：自主水下航行器 水声定位导航 圆形交汇算法 误差分析 

分 类 号：P756[天文地球—海洋科学]