考虑洋流估计的水下高速航行器自主导航技术  

Autonomous Navigation Technology of Underwater High-speed Vehicle Considering Ocean Current Estimation

作　　者：李锋 吉云飞 张宇 段金雷 LI Feng;JI Yunfei;ZHANG Yu;DUAN Jinlei(Naval Equipment Department,Beijing 100071;Beijing Aerospace Time Optical-Electronic Technology Co.,Ltd,Beijing 100094)

机构地区：[1]海军装备部,北京100071 [2]北京航天时代光电科技有限公司,北京100094

出　　处：《导航与控制》2024年第4期71-77,共7页Navigation and Control

基　　金：国家自然科学基金基础科学中心项目(编号:62388101)。

摘　　要：针对水下高速航行器快速启动、自主定位、高精度打击的应用要求,提出一种基于捷联惯导短时间高精度速度输出、考虑螺旋桨推进速度误差及洋流在线估计的水下高速航行器自主导航技术,较好地解决了水下高速航行器高精度自主导航隐蔽性、安全性难题。搭建了车载试验平台,并进行了仿真分析和试验验证,结果表明,螺旋桨刻度因子在线估计误差优于1×10^(-3)、洋流速度误差估计优于0.02 m/s,自主导航定位精度相较于传统航速组合方案提升了58%,有效保证了水下高速航行器的高精度自主导航性能。Aiming at the application requirements of fast start-up,autonomous positioning and high-precision attack for underwater high-speed vehicles,an autonomous navigation technology of high speed underwater vehicles based on shorttime high-precision velocity output of strapdown inertial navigation is proposed,which considers the propeller velocity error and ocean current on-line estimation,and solves the problems of concealment and safety in high precision autonomous navigation of underwater high speed vehicle.An on-board simulation test platform is built,and simulation analysis and experimental verification are carried out.The results show that the online estimation error of propeller scale factor is better than 1×10^(-3),the estimation error of ocean current velocity is better than 0.02 m/s,and the positioning accuracy of autonomous navigation is improved by 58%compared with the traditional speed integrated navigation,which effectively guarantees the high-precision autonomous navigation performance of the underwater high-speed vehicles.

关 键 词：螺旋桨 洋流 水下高速航行器 自主导航 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]