一种基于SINS与LBL的水下隐蔽导航定位方法  

Underwater Concealed Navigation and Positioning Method Based on SINS and LBL

作　　者：陈柯宇[1] 黄南宇 苏为[1] 程恩[1] CHEN Ke-yu;HUANG Nan-yu;SU Wei;CHENG En(Key Laboratory of Underwater Acoustic Communication and Marine Information Technology of Ministry of Education,Xiamen University,Xiamen 361005,China)

机构地区：[1]厦门大学水声通信与海洋信息技术教育部重点实验室,福建厦门361005

出　　处：《水下无人系统学报》2022年第1期37-43,共7页Journal of Unmanned Undersea Systems

基　　金：国家自然科学基金项目(62071402,61871336,62071400)。

摘　　要：针对自主水下航行器(AUV)隐蔽航行需求,文中设计了一种基于捷联式惯性导航系统(SINS)和长基线(LBL)的组合导航系统,其中LBL信标按照固定顺序在不同时隙分别发送声信号,在接收到声信号后通过SINS分别计算出每个虚拟信标的位置平移量,并列出方程组解算出水声定位位置坐标。航行中可以通过LBL水声定位信息来校正SINS的导航误差,而校正后的SINS位置信息可以为LBL定位提供更精确的虚拟信标平移量。在组合导航定位过程中,通过融合节点冗余信息,进行多点LBL定位,从而提高定位精度;同时利用历史冗余节点替代缺失节点,保证正常量测更新。通过MATLAB仿真对组合导航系统进行验证,结果表明,基于SINS和LBL的AUV组合导航系统能在AUV隐蔽状态下,充分抑制纯惯导误差,提高导航定位精度,节省系统能量。在利用冗余信息之后,系统的导航精度、可靠性和容错性都得到进一步提高。In the military and some civil fields,autonomous undersea vehicles(AUVs)are required to navigate in a concealed state.Therefore,in this study,the strap-down inertial navigation system(SINS)and long baseline(LBL)are integrated into a single system,in which an LBL beacon sends acoustic signals in different time slots according to a fixed order.After receiving the acoustic signals,the AUV calculates the translational position of each virtual beacon through the SINS.During navigation,the navigation error of the SINS can be corrected by the LBL underwater acoustic positioning information,and the corrected SINS position information can provide a more accurate virtual beacon translation for the LBL positioning.In the process of integrated navigation and positioning,multi-point LBL positioning is carried out by fusing node redundant information,which can improve the positioning accuracy;the historical redundant node is used to replace the missing node to ensure a normal measurement update.The integrated navigation system is verified using a MATLAB simulation.The simulation results showed that the AUV integrated navigation system based on SINS and LBL could fully suppress the pure inertial navigation error when the AUV was concealed,improve the navigation positioning accuracy,and save system energy.After using redundant information,the navigation accuracy,reliability,and fault tolerance of the system were further improved.

关 键 词：自主水下航行器 捷联式惯性导航系统 长基线 隐蔽导航 信息冗余 

分 类 号：V249.328[航空宇航科学与技术—飞行器设计] TJ630.33[兵器科学与技术—武器系统与运用工程]