舰船编队并行式惯性基协同导航  

Parallel Inertial-based Cooperative Navigation for Ship Formation

作　　者：王苏[1] 周红进[1] 李倩 徐贵鹏[2] 兰国辉[1] WANG Su;ZHOU Hongjin;LI Qian;XU Guipeng;LAN Guohui(Department of Navigation,Dalian Naval Academy,Dalian 116018;College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001)

机构地区：[1]海军大连舰艇学院航海系,大连116018 [2]哈尔滨工程大学智能科学与工程学院,哈尔滨150001

出　　处：《舰船电子工程》2025年第1期48-51,57,共5页Ship Electronic Engineering

基　　金：黑龙江省自然科学基金项目(编号:YQ2021E011)资助。

摘　　要：针对卫导信息拒止环境下,舰船编队各舰船搭载同等精度惯性导航基准存在定位误差发散的问题,提出了一种各舰船惯性导航基准协同组网导航定位的方法。首先,提出了舰船编队协同组网导航定位技术原理;构建了并行式惯性基协同导航运动学模型及观测方程;设计了基于扩展卡尔曼滤波的数据融合算法校正定位误差。利用惯性基准、卫导设备和试验车搭建了并行式协同导航试验平台。试验结果表明,相较于单舰船惯性基准导航精度,论文提出的协同导航方法单舰船定位误差最大值减小了18.14%,舰船编队总体定位误差降低了9.53%。In order to solve the positioning error divergence problem of inertial navigation reference with the same accuracy carried by each ship in the ship formation in the environment of denial of GNSS information,a collaborative network navigation and positioning method based on each ship's inertial navigation reference is proposed.Firstly,the principle of ship formation cooperative network navigation and positioning technology is proposed.The kinematic model and observation equation of parallel inertial-based cooperative navigation are constructed.A data fusion algorithm based on EKF is designed to correct the positioning error.A parallel cooperative navigation test platform is built by means of inertial reference,GNSS equipment and test vehicle.The experimental re⁃sults show that compared with the single ship inertial reference navigation accuracy,the maximum single ship positioning error of the proposed cooperative navigation method is reduced by 18.14%,and the overall positioning error of the ship formation is reduced by 9.53%.

关 键 词：舰船编队 协同导航 并行式 信息融合 

分 类 号：U666[交通运输工程—船舶及航道工程]