多波束勘测中航向姿态系统研究  

Vessel Attitude System for Multibeam Echosounding

作　　者：孙永荣[1] 刘建业[1] 陈武[2] 胡丛玮[2] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]香港理工大学土地测量与地理资讯学系

出　　处：《南京航空航天大学学报》2003年第4期356-360,共5页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：香港研究资助局基金 (Polyu G-YC43 )资助项目

摘　　要：由于风、水流等因素的影响 ,使得用多波束测得的水深及水下地形存在误差 ,为此需要进行船姿补偿。文中介绍了利用 GPS进行姿态求解的方法 ,阐述了利用 GPS姿态、位置以及速度作为观测量进行 GPS/ SINS全状态组合的原理 ,叙述了基于 MEMS IMU的 GPS/ SINS组合系统的工程实现。实验结果表明 ,GPS/ SINS全状态组合能够提供较高精度的船体航偏角、横摇角、纵摇角以及位置、速度信息 。Multibeam echosounding is used to measure the depth and the shape of sea-bed or river-bed. But in real situations, vessel attitude, which results in the errors of depth and shape, is changed due to wind, water current and other factors. Therefore, attitude compensation is needed to achieve the true depth and shape. This paper presents an all-state integrated GPS/SINS navigation system developed by multibeam echosounding. Many issues related to the system, such as GPS attitude determination, error models, navigation algorithms, and the engineering realization based on MEMS IMU, are stressed. Experimental results show that GPS/SINS all state integrated can provide accurate attitude (roll, pitch and yaw), position, and velocity to meet the requirements of multibeam echosounding vessel attitude compensation.

关 键 词：多波束勘测 航向姿态系统 船舶 组合导航 横摇角 

分 类 号：U664.82[交通运输工程—船舶及航道工程] U675.73[交通运输工程—船舶与海洋工程]