基于自适应滤波长基线组合AUV定位算法  

AUV localization algorithm based on adaptive filtering and long baseline combination

作　　者：吴子敬 WU Zi-jing(College of Computer and Control Engineering,Qiqihar University,Heilongjiang Qiqihar 161006,China)

机构地区：[1]齐齐哈尔大学计算机与控制工程学院,黑龙江齐齐哈尔161006

出　　处：《齐齐哈尔大学学报（自然科学版）》2023年第6期27-33,共7页Journal of Qiqihar University(Natural Science Edition)

摘　　要：针对水下环境噪声干扰以及水下时延误差等问题,提出基于自适应滤波长基线组合AUV定位算法。该算法采用长基线组合导航定位系统,以捷联惯性导航系统为主,长基线定位系统为辅,消除时延误差实现误差补偿;再引入自适应滤波算法,使用卡尔曼滤波算法对系统进行信息融合来矫正累积误差实现自适应滤波定位。仿真实验表明,该算法能有效消除水下复杂环境中的噪声干扰对AUV定位精度的影响,提高算法对未知噪声的适应性和定位精度。To address the issues of underwater environmental noise interference and underwater time delay,an adaptive filtering based long baseline combination AUV localization algorithm is proposed.This algorithm adopts a long baseline integrated navigation and positioning system,with the SINS as the main system and the LBL positioning system as the auxiliary system to eliminate delay errors and achieve error compensation.Then,an adaptive filtering algorithm is introduced,and the Kalman filtering algorithm is used to fuse information in the system to correct accumulated errors and achieve adaptive filtering positioning.Simulation experiments have shown that this algorithm can effectively eliminate the impact of noise interference on AUV positioning accuracy in complex underwater environments,and improve the algorithm's adaptability to unknown noise and positioning accuracy.

关 键 词：组合定位算法 误差补偿 水下自主航行器 水下传感器网络 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]