一种面向无人水下航行器的多普勒自主导航方法  

DVL-based Autonomous Navigation Method for Unmanned Undersea Vehicles

作　　者：刘沛佳[1,3] 秦丽萍 李广华 侯冬冬 朱政宇 LIU Peijia;QIN Liping;LI Guanghua;HOU Dongdong;ZHU Zhengyu(School of Electrical and Information Engineering,Zhengzhou University,Zhengzhou 450001,China;713th ResearchInstitute,China State Shipbuilding Corporation Limited,Zhengzhou 450015,China;Henan Key Laboratory of UnderwaterIntelligent Equipment,Zhengzhou 450015,China)

机构地区：[1]郑州大学电气与信息工程学院,河南郑州450001 [2]中国船舶集团有限公司第713研究所,河南郑州450015 [3]河南省水下智能装备重点实验室,河南郑州450015

出　　处：《水下无人系统学报》2023年第3期373-380,共8页Journal of Unmanned Undersea Systems

基　　金：国家自然科学基金项目(62203399);河南省重点研发与推广专项项目(222102220004);河南省高等学校重点科研项目(22A413003);国家超级计算郑州中心首批创新生态系统建设科技专项项目(201400211100);中央引导地方科技发展专项项目(Z20221343002);河南省自然科学基金项目(232300421097);河南省高校科技创新人才支持计划项目(23HA STIT019)。

摘　　要：针对无人水下航行器自主导航需求,文中设计由多普勒计程仪(DVL)、深度计、电子罗盘(ECP)和低成本惯性量测单元(IMU)组成的航位推算导航系统,提出一种DVL自主导航方法。该方法通过传感器一体化集成克服安装误差和时间异步问题,采用ECP/IMU融合方案获取高频姿态参数,在此基础上,制定DVL异常数据处理、高动态误差修正以及全球导航卫星系统辅助策略。所提出的方法在“海为一号”自主水下航行器上得到应用,试验结果表明自主导航定位精度约为航程的1.5%(圆概率误差),可以为相关研究和应用提供参考。In response to the requirement for autonomous navigation capability of unmanned undersea vehicles,a dead-reckoning navigation system composed of a Doppler velocity log(DVL),a pressure sensor,an electronic compass(ECP),and alow-cost inertial measurement unit(IMU)is designed in this study,and a DVL-based autonomous navigation method isdeveloped.In the proposed method,a sensor integration scheme is implemented to overcome the installation error and timeasynchrony.An ECP/IMU fusion scheme is developed for high-frequency attitude parameters.On this basis,the strategies forthe elimination of DVL abnormal data,the correction of DVL high dynamic errors and the assistance of global navigationsatellite system are formulated.The proposed method is applied on the“Haiwei 1”autonomous undersea vehicle(AUV).Thefiled experiments of“Haiwei 1”AUV indicate that the positioning accuracy of the autonomous navigation corresponds toapproximately 1.5%(circular error probable)of the distance traveled,which can serve as a reference for related researches andapplications.

关 键 词：无人水下航行器 自主导航 航位推算 多普勒导航 

分 类 号：TP630.34[自动化与计算机技术—控制理论与控制工程] U674.941[自动化与计算机技术—控制科学与工程]