基于移动长基线和导航误差修正的USV/UUV协同导航算法  

USV/UUV Cooperative Navigation Algorithm Based on Moving Long Baseline and Navigation Error Correction

作　　者：焦慧峰 叶琛 王文初 毛昭勇[1] 王银涛[1] JIAO Huifeng;YE Chen;WANG Wenchu;MAO Zhaoyong;WANG Yintao(Unmanned System Research Institute,Northwestern Polytechnical University,Xi’an 710072,China;China Ship ScientificResearch Center,Wuxi 214016,China;China Academy of Space Technology,Xi’an 710100,China;Unit 91007th,the LiberationArmy of China,Shanghai 200090,China)

机构地区：[1]西北工业大学无人系统技术研究院,陕西西安710072 [2]中国船舶科学研究中心,江苏无锡214016 [3]中国空间技术研究院西安分院,陕西西安710100 [4]中国人民解放军91007部队,上海200090

出　　处：《水下无人系统学报》2024年第5期864-873,共10页Journal of Unmanned Undersea Systems

基　　金：国家自然科学基金项目资助(U2141238)。

摘　　要：针对无人水下航行器长时间协同运动,惯性导航误差累积增长的问题,为减小USV/UUV之间相对导航误差,提高UUV导航精度,提出一种基于移动长基线和导航误差修正的无人水面艇(USV)/无人水下航行器(UUV)协同导航算法。该算法基于水声通信测距,首先由UUV收集其与USV间相对距离信息,计算相对导航误差修正量,接着将修正量添加到USV当前导航位置中,结合USV与UUV间的队形设置以及UUV自身低精度导航设备解算的位置,最终实现对UUV累积的惯导位置误差修正。仿真结果表明,在USV/UUV协同运动过程中,通过对修正后UUV位置信息以及UUV惯导解算得到的位置量进行融合,可显著提高UUV导航精度。Unmanned undersea vehicles(UUVs)undergo a cumulative increase of inertial navigation error caused by long-term cooperative movement.In order to reduce the relative navigation errors between unmanned surface vessels(USVs)andUUVs and improve the navigation accuracy of UUVs,a USV/UUV cooperative navigation algorithm based on moving longbaseline and navigation error correction was proposed in this paper.The algorithm was based on underwater acousticcommunication ranging.First,UUV collected the relative distance information between it and USVs,calculated the relativenavigation error correction,and then added the correction to the current navigation position of USVs.Finally,the accumulatedinertial navigation error of UUVs was corrected by combining the formation setting between USVs and UUVs and the positioncalculated by the UUVs’low-precision navigation equipment.The simulation results show that the navigation accuracy ofUUVs can be significantly improved during the USV/UUV cooperative movement by blending the corrected UUV positioninformation with the position calculated by the inertial navigation of UUV.

关 键 词：无人水下航行器 无人水面艇 协同导航 移动长基线 相对导航误差 

分 类 号：TJ630.2[兵器科学与技术—武器系统与运用工程] U666[交通运输工程—船舶及航道工程]