基于TDOA/AOA的惯性/单声源被动导航定位方法研究  

A TDOA/AOA-based Inertial/Single Source Passive Navigation Method

作　　者：张亮 张涛[1,2] ZHANG Liang;ZHANG Tao(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China;Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology,Ministry of Education,Nanjing 210096,China)

机构地区：[1]东南大学仪器科学与工程学院,南京210096 [2]微惯性仪表与先进导航技术教育部重点实验室,南京210096

出　　处：《无人系统技术》2023年第4期1-9,共9页Unmanned Systems Technology

基　　金：国家自然科学基金(52071080);惯性重点实验室基金(2021-JCJQ-LB-070-05);中央高校基本科研业务费专项资金资助(2242022K30017,2242022K30018)。

摘　　要：被动导航定位技术以自主水下航行器(AUV)不向外发射信号为前提,具有定位隐蔽性好、安全性高的优势。惯性导航是一种自主式的导航,可用于AUV的被动定位,然而惯性导航误差易发散的特性限制了其长航时、远航程下的应用。针对此提出一种单声源辅助惯性的被动导航定位方法,单声源按照固定周期发射信号,AUV通过接收信号的到达时间差(TDOA)以及到达角度(AOA)完成对惯性导航误差的抑制,无需与声源进行信息交互。为了实现对惯性导航误差的抑制,推导了TDOA/AOA定位模型,建立了基于位置匹配的惯性/单声源松组合导航方法。仿真实验表明,所建立的单声源辅助惯性导航方法,可以有效抑制惯性导航误差的发散,水平方向误差收敛到10 m以内,可以为AUV提供长航时的被动导航定位功能。Passive navigation and positioning technology is based on the premise that the autonomous underwater vehicle(AUV)does not send out signals,which has the advantages of good concealment and high safety.Inertial navigation is a kind of autonomous navigation,which can be used for the passive positioning of AUVs.However,the divergence of inertial navigation error limits its application in long endurance and long range.A passive navigation method based on inertial navigation assisted by a single source is proposed in the paper.The single source transmits the signal in a fixed period and the inertial navigation error can be suppressed by the time-difference-of-arrival(TDOA)and the angle-of-arrival(AOA)of the received signals.The AUV does not need to interact with the sound source.The TDOA/AOA positioning model is derived to reduce the inertial navigation error.An inertial/single source loosely-coupled integrated navigation method based on position matching is proposed.Simulation results show that the proposed method can effectively restrain the divergence of inertial navigation errors.The horizontal error converges to within 10 m.It can provide the AUV with long-endurance passive navigation and positioning functions.

关 键 词：自主水下航行器 TDOA AOA 惯性导航 被动定位 单声源 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]