惯性与DVL计程仪组合导航技术研究  

Study on Inertial and DVL High Precision Integrated Navigation Technology

作　　者：杨玉孔[1] YANG Yu-kong(Huazhong Institute of Electro-Optics-Wuhan National Laboratory for Optoelectronics,Wuhan 430223,China)

机构地区：[1]华中光电技术研究所-武汉光电国家研究中心,湖北武汉430223

出　　处：《光学与光电技术》2023年第5期125-130,共6页Optics & Optoelectronic Technology

摘　　要：多普勒(DVL)计程仪采用相控阵技术进行声波信号的发射和接收,不需声速的补偿修正,具有精度高的特点,而其固有的标度因数误差和水底环境复杂的问题,影响了测速精度的稳定性,进而使得与惯导组合定位误差降低。首先介绍了多普勒计程仪的误差特点,然后结合惯性导航设备短期定位精度高的优势,建立了关于多普勒计程仪标度因数误差和安装误差的高阶Kalman滤波模型,形成组合导航定位算法,最后利用惯导设备将该组合导航算法进行了不同湖面条件下的实测,匀速直线航行10 km,最大定位误差小于10 m,一般航行20 km以内,最大定位误差小于0.16%D,D为航程。试验结果表明:该组合导航技术具有明显的技术优势,为组合导航产品提供了重要理论参考。The phased array DVL adopts phased array technology to transmit and receive acoustic signals,without the need to compensate for sound speed,and has high precision.For the inherent scale factor error and the complex underwater environment problem,the stability of the speed measurement accuracy is poor,and the navigation accuracy of the inertial navigation combination is seriously affected.Firstly,the error characteristics of Doppler log are introduced.Then the characteristics of laser inertial navigation with high short-term precision are analyzed.The high-order Kalman filtering model for scale factor and installation error is established,and the integrated navigation and positioning technology algorithm is obtained.Finally,the combined navigation algorithm is carried out with the laser inertial navigation to measure the lake condition.The voyage of individual voyages is within 10 km,the maximum positioning error is less than 10 meters,and the general voyage is within 20 km.The maximum positioning error is less than 0.2%D.The test results show that the integrated navigation technology has obvious technical advantages,and provide an important theoretical reference for integrated navigation products.

关 键 词：惯性导航 多普勒计程仪 组合导航 卡尔曼滤波 光学陀螺 

分 类 号：U666.1[交通运输工程—船舶及航道工程]