基于逆向解算的领航AUV导航数据后处理方法  

A Post-Processing Method of Navigation Data for Leader AUV Based on Backward Calculating

作　　者：董权威 岳才谦[1] 王奥博[1] 王亭亭 DONG Quan-wei;YUE Cai-qian;WANG Ao-bo;WANG Ting-ting(China Academy of Aerospace and Aerodynamics,Beijing 100074,China)

机构地区：[1]中国航天空气动力技术研究院,北京100074

出　　处：《水下无人系统学报》2020年第4期420-427,共8页Journal of Unmanned Undersea Systems

摘　　要：由于多自主水下航行器(AUV)协同导航系统在水下长时间工作时,领航AUV无法接收外界信息,其定位误差会逐渐发散进而影响整个系统的定位性能。针对该问题,文中提出一种基于捷联惯导系统/多普勒计程仪(SINS/DVL)和SINS/DVL/全球定位系统(GPS)组合导航相结合的领航AUV导航数据后处理方法。领航AUV在水下采用SINS/DVL组合导航方式对导航数据进行正向解算,并保存其在水下航行过程中产生的导航信息。领航AUV出水后接收GPS信号,同时采用SINS/DVL与SINS/DVL/GPS 2种导航方式进行独立滤波,滤波结束后逆向解算出领航AUV在水下累计的定位误差,通过结合正向和逆向解算出的结果,使领航AUV在水下累计的定位误差得到有效修正,进而提高多AUV系统的整体定位性能。最后通过仿真对该方法的可行性与有效性进行了验证。该方法可用于海底地形扫描、海图绘制与水下探测等领域,可进一步提升多AUV系统采集的水下任务数据的位置精度,提高数据的准确性与实用性。Since the leader autonomous undersea vehicle(AUV)cannot receive the external information if the multi-AUV cooperative navigation system works under water for a long time and its localization error will gradually diverge and affect the localization performance of the overall system,a post-processing method based on integrated navigation of strap-down inertial navigation system(SINS)/Doppler velocity log(DVL)and SINS/DVL/global positioning system(GPS)is proposed.Adopting SINS/DVL integrated navigation,the leader AUV processes the navigation information forwardly and stores the navigation information sampled during the process when AUV maneuvers,and then it receives the GPS information after coming out of water and uses the two navigation methods of SINS/DVL and SINS/DVL/GPS for independent filtering.After filtering,the leader AUV’s localization error accumulated under water is processed inversely to correct the localization error of the leader AUV through forward and backward calculating,so as to improve the localization performance of the overall multi-AUV system.Moreover,the feasibility and validity of the proposed post-processing method is verified through simulation.This method can be applied to underwater terrain scanning,sea chart drawing and underwater exploration to further improve localization accuracy of the underwater data sampled by multi-AUV and enhance veracity and usefulness of the data.

关 键 词：自主水下航行器 组合导航 逆向解算 后处理 

分 类 号：TJ6[兵器科学与技术—武器系统与运用工程] TN967.2[电子电信—信号与信息处理]