基于任务剖面的法向量位置模型阻尼切换算法  

Damping switching algorithm for normal vector position model based on mission profile

作　　者：曾观林 冯国虎 薛驰 ZENG Guanlin;FENG Guohu;XUE Chi(College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学智能科学学院,长沙410073

出　　处：《中国惯性技术学报》2024年第5期433-440,共8页Journal of Chinese Inertial Technology

基　　金：装备预研基金(61405170207)。

摘　　要：为提升潜航器深远海复杂环境下的导航定位精度,提出一种基于任务剖面的法向量位置模型的阻尼切换算法。设计了外阻尼、内阻尼和无阻尼之间的阻尼切换策略,将潜航器机动状态和多普勒计程仪(DVL)测速精度共同作为阻尼切换判据,引入模糊控制器以增强系统的鲁棒性。算法提高了系统的环境适应性并减小了频繁阻尼切换引起的超调量。基于任务剖面设计了三种典型场景:潜航器大机动、洋流剧烈波动和遇到反潜声呐关闭DVL,蒙特卡洛仿真验证了算法的有效性。基于北极实际航行数据的离线测试表明,相对传统外阻尼与无阻尼切换方法,所提方法的定位误差均方根和最大值分别减小15.09%和9.33%。In order to improve the navigation and positioning accuracy of underwater vehicle(UUV)in the complex environment of deep sea,a damping switching algorithm for normal vector position model based on mission profile is proposed.The damping switching strategy among external damping,internal damping and free damping is designed,and the maneuvering state of UUV and the velocity measurement accuracy of Doppler velocity log(DVL)are jointly used as the damping switching criterion.The fuzzy controller is introduced to enhance the robustness of the system.The algorithm improves the environmental adaptability of the system and reduces the overshoot caused by frequent damping switching.Three typical scenarios are designed based on the mission profile:large maneuver of UUV,violent fluctuation of ocean current and DVL shutdown when encountering anti-submarine sonar.Monte Carlo simulation verifies the effectiveness of the algorithm.The offline test based on the actual Arctic navigation data shows that compared with traditional switching methods of external damping and free damping,the root mean square error and maximum value of the positioning error of the proposed method are reduced by 15.09%and 9.33%,respectively.

关 键 词：法向量 阻尼 任务剖面 水下导航 长航时 

分 类 号：U666.1[交通运输工程—船舶及航道工程]