多普勒与航向姿态坐标参考的组合导航系统设计  

Design of Combined Navigation System with Doppler and Heading Attitude Coordinate Reference

作　　者：冯爱国 吴炜 FENG Ai-guo;WU Wei(School of Nautical Technology,Jiangsu Shipping College,Nantong 226010,China;School of Transportation Engineering,Jiangsu Shipping College,Nantong 226010,China)

机构地区：[1]江苏航运职业技术学院航海技术学院,江苏南通226010 [2]江苏航运职业技术学院交通工程学院,江苏南通226010

出　　处：《江苏航运职业技术学院学报》2023年第3期34-38,86,共6页Journal of Jiangsu Shipping College

基　　金：江苏省高校优秀科技创新团队资助计划;江苏省“333工程”科研项目资助基金(BRA2014312)。

摘　　要：随着船舶定位导航精度要求的日益提高,过度依赖电子定位单一导航方法存在很大的局限性,传统的航迹推算难以在远距离航行时保障精度。为给船舶提供多元化的可靠船位信息,形成船位数据互补与互证,提高系统集成化程度,适应复杂航行环境,设计了一种GYRO/SINS/Doppler log(陀螺罗经/捷联惯导/多普勒计程仪)组合导航系统。其主要内容是:为无线电定位进行补充验证的组合导航系统总体方案设计,采用GYRO/SINS/Doppler log提供组合导航数据。其中,航向由陀螺罗经提供,船舶姿态通过微型捷联惯导系统提供,船舶纵、横运动速度由4轴多普勒提供,信息融合技术采用自适应Kalman滤波算法,最后进行载体坐标系向导航坐标系转移计算,给出船舶纵横向与北东向实时速度及北东向位置积分变化。仿真结果表明,该组合导航系统具有较好推算能力、良好的稳定性和快速性、较高的精度和误差纠正能力,能满足船舶长时间远距离航行的导航要求。With the increasing requirement of ship positioning and navigation accuracy,there are significant limitations in the single navigation method that overly relies on electronic positioning,and the traditional dead reckoning is difficult to guarantee the accuracy in long-distance navigation.In order to provide diversified and reliable position information for ships,to form the ship’s position data complementary to each other and mutual evidence,and to improve the level of integration of the system,in the complex navigational environment,a GYRO/SINS/Doppler log combined navigation system is designed.Its main contents are:the overall scheme design of the combined navigation system for complementary verification of radio positioning,the GYRO/SINS/Doppler log is used to provide combined navigation data,in which the heading data is provided by the gyrocompass,the ship’s attitude is provided by miniature Strap-down Inertial Navigation System,the ship’s longitudinal and transverse motion speed is provided by the 4-axis Doppler,the information fusion technique adopts adaptive Kalman filtering algorithm,and finally,the carrier coordinate system is transferred to navigation coordinate system to give the real-time longitudinal,transverse and north-east speeds of the ship as well as the change of the position integral in the north-east direction.The simulation results show that the combined navigation system is of better reckoning ability,good stability and rapidity,higher accuracy and error correction ability,and is able to meet the navigation requirements of a ship navigating for a long time and a far distance.

关 键 词：多普勒计程仪 捷联惯导系统 船位推算 组合导航 陀螺罗经 

分 类 号：U675.7[交通运输工程—船舶及航道工程]