摘要
UUV在水下长时间航行后,陀螺的漂移将使导航系统误差发散,严重时可影响作战任务或造成航行安全事故。通常采用的方式是UUV上浮至水面与GPS组合进行校准与标定。由于GPS的输出频率通常较低且海面环境复杂,校准过程消耗较长时间,易使UUV暴露自身位置,破坏作战任务的隐蔽性。针对此问题,设计了一种基于星敏感器的CNS/SINS陀螺标定系统,由CNS提供四元数形式的高精度姿态信息,与SINS的计算姿态进行滤波估计,确定陀螺漂移量。通过仿真分析,模型对陀螺常数漂移的估计准确有效且估计速度快。该方法可结合GPS提供的位置、速度,CNS提供的精准姿态,使UUV快速完成导航系统的校准或重置,对增强UUV在部分任务中的安全与效能具有一定意义。
The gyroscope drift would enlarge UUV navigation error after long voyage underwater. GPS/SINS integrated navigation systems were generally used to calibrate IMU errors. However, it would consume much time due to the lowfrequency of GPS devices and the bad influence of sea surface. In extreme cases, UUV might be detected or destroyed during floating time in military missions. Aid to this problem, an integrated system was designed by CNS. CNS could supply high accuracy attitude outputs in quaternion format. Random constant drift could be estimated by quaternion difference value between SINS and CNS in Kalman filter. The simulation results proved that this system is feasible and accurate. In future development, UUV could reduce calibration time by the combination of CNS and GPS.
作者
刘志浩
于雪泳
许忠良
LIU Zhi-hao;YU Xue-yong;XU Zhong-liang(Naval Submarine Academy,Qingdao 266000,China)
出处
《舰船科学技术》
北大核心
2020年第1期168-171,共4页
Ship Science and Technology
