基于SINS/DVL与声学定位系统的水下组合导航技术研究
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摘要
捷联式惯性导航系统具有结构简单、隐蔽性高、自主性强等优点,但随着导航时间的增加,系统会出现累积误差,从而严重影响水下航行器的导航定位精度。由于海水的良好导电性,使得GPS无法在海水中对惯导系统进行有效校准。水下声学定位系统采用在海底或海面安装能发射声信号的信标、应答器及水听器,可以在海洋环境中对水下航行器进行有效定位,从而为惯导系统提供位置校准信息。多普勒计程仪可以有效测量航行器相对海底的速度,从而为惯导系统提供速度校准信息。论文阐述了水下常用的定位导航技术和信息融合方法,构建了惯导系统、多普勒计程仪和水下长基线定位系统交互辅助的组合导航模型,为今后更方便、准确地进行研究作基础。
trapdown inertial navigation system(SINS)has the advantages of simple structure,high concealment and strong autonomy. But the cumulative error of SINS will occur with the increase of navigation time,which will seriously affect the navigationand positioning accuracy. The GPS is unable to calibrate the SINS effectively in seawater because of the good electrical conductivityof the seawater. Underwater acoustic positioning system uses acoustic emission signal that can effectively determine the position ofthe underwater vehicle in the marine environment. Therefore,it can provide location information for calibration of INS. Dopper Ve-locity Logger(DVL)can effectively measure the vehicle speed relative to seabed,so as to provide information for speed calibrationof INS. This paper describes the underwater positioning navigation technology and information fusion method. An integrated naviga-tion model based on SINS,DVL and long baseline positioning system with interactive assistance is constructed,which will offer a basis for further research in the future.
trapdown inertial navigation system(SINS)has the advantages of simple structure,high concealment and strong autonomy. But the cumulative error of SINS will occur with the increase of navigation time,which will seriously affect the navigationand positioning accuracy. The GPS is unable to calibrate the SINS effectively in seawater because of the good electrical conductivityof the seawater. Underwater acoustic positioning system uses acoustic emission signal that can effectively determine the position ofthe underwater vehicle in the marine environment. Therefore,it can provide location information for calibration of INS. Dopper Ve-locity Logger(DVL)can effectively measure the vehicle speed relative to seabed,so as to provide information for speed calibrationof INS. This paper describes the underwater positioning navigation technology and information fusion method. An integrated naviga-tion model based on SINS,DVL and long baseline positioning system with interactive assistance is constructed,which will offer a basis for further research in the future.
引文
[1]徐博,白金磊,郝燕玲,高伟,刘亚龙.多AUV协同导航问题的研究现状与进展[J].自动化学报,2015,41(03):445-461.
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[10]孙大军,郑翠娥,钱洪宝,李昭.水声定位系统在海洋工程中的应用[J].声学技术,2012,31(02):125-132.
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[14]郭才发,胡正东,张士峰,蔡洪.地磁导航综述[J].宇航学报,2009,30(04):1314-1319,1389.
[15]郭有光,钟斌,边少锋.地球重力场确定与重力场匹配导航[J].海洋测绘,2003(05):61-64.
[16]郑彤,蔡龙飞,王志刚,边少锋.地形匹配辅助导航中匹配区域的选择[J].中国惯性技术学报,2009,17(02):191-196.
[17]赵琳,王小旭,丁继成,曹伟.组合导航系统非线性滤波算法综述[J].中国惯性技术学报,2009,17(01):46-52,58.
[18]董渊科,刘明雍,胡俊伟.基于非线性技术的AUV组合导航新方法[J].火力与指挥控制,2011,36(12):95-98.
[19]胡士强,敬忠良.粒子滤波算法综述[J].控制与决策,2005(04):361-365,371.
[20]许迅雷.无迹卡尔曼滤波(UKF)的应用比较分析[J].西安文理学院学报(自然科学版),2011,14(02):57-60.
[2]吴苗,朱银兵,李方能,许江宁.无线电导航原理与信号接收技术[M].北京:国防工业出版社,2015.10-14.
[3]王巍.惯性技术研究现状及发展趋势[J].自动化学报,2013,39(06):723-729.
[4]Loebis D,Sutton R,Chudley J,et al. The application ofsoft computing techniques to an integrated navigation sys-tem of an AUV[J]. IFAC Proceedings Volumes,2004,37(8):66-71.
[5]Paull L,Saeedi S,Seto M,et al. AUV navigation and lo-calization:A review[J]. IEEE Journal of Oceanic Engi-neering,2014,39(1):131-149.
[6]张立川,徐德民,刘明雍,严卫生.基于移动长基线的多AUV协同导航[J].机器人,2009,31(06):581-585,593.
[7]冯子龙,刘健,刘开周. AUV自主导航航位推算算法的研究[J].机器人,2005(02):168-172.
[8]王彬,翁海娜,梁瑾,王彦国,王桂如.一种惯性/水声单应答器距离组合导航方法[J].中国惯性技术学报,2017,25(01):86-90.
[9]于玖成,何昆鹏,王晓雪. SINS/DVL组合导航系统的标定[J].智能系统学报,2015,10(01):143-148.
[10]孙大军,郑翠娥,钱洪宝,李昭.水声定位系统在海洋工程中的应用[J].声学技术,2012,31(02):125-132.
[11]朱春云,庄广琛,宋雅兰,马小艳. DVL安装角估计方法在水下组合导航系统中的应用[J].中国惯性技术学报,2011,19(01):75-78.
[12]周保军,刘硕.水下导航技术研究[J].现代导航,2012,3(01):19-23
[13]孙大军,郑翠娥.水声导航、定位技术发展趋势探讨[J].海洋技术学报,2015,34(03):64-68.
[14]郭才发,胡正东,张士峰,蔡洪.地磁导航综述[J].宇航学报,2009,30(04):1314-1319,1389.
[15]郭有光,钟斌,边少锋.地球重力场确定与重力场匹配导航[J].海洋测绘,2003(05):61-64.
[16]郑彤,蔡龙飞,王志刚,边少锋.地形匹配辅助导航中匹配区域的选择[J].中国惯性技术学报,2009,17(02):191-196.
[17]赵琳,王小旭,丁继成,曹伟.组合导航系统非线性滤波算法综述[J].中国惯性技术学报,2009,17(01):46-52,58.
[18]董渊科,刘明雍,胡俊伟.基于非线性技术的AUV组合导航新方法[J].火力与指挥控制,2011,36(12):95-98.
[19]胡士强,敬忠良.粒子滤波算法综述[J].控制与决策,2005(04):361-365,371.
[20]许迅雷.无迹卡尔曼滤波(UKF)的应用比较分析[J].西安文理学院学报(自然科学版),2011,14(02):57-60.