摘要
为了进一步提高AUV的导航定位精度,研究SINS/DVL组合导航系统在大航程AUV上的应用。首先,建立其误差分析模型;然后,提出使用常规kalman滤波方程计算误差的思想;最后,在系统噪声与观测噪声已知的情况下,应用常规kalman滤波算法进行仿真分析。结果表明,该滤波存在明显发散,导致误差方差阵失去非负定性,影响滤波增值。
In order to improve the precision of AUV navigation orientation and research the application of SINS/DVL combined navigation system in the large voyage AUV. Firstly, the model of analyzing error will be established. Secondly, calculate the error by the normal kalman filter equation; lastly, use simulation to analyze the error by the normal kalman filter arithmetic with known system yawp and observation yawp. The result indicates that error array will be not non-negative definite any more because the filter is divergent obviously, it will make influence the filter increment.
出处
《兵工自动化》
2010年第2期46-48,共3页
Ordnance Industry Automation
