摘要
采用水下超短基线定位系统和捷联惯导系统组合对水下潜器进行导航时,未知的声速误差会严重影响组合导航的精度。顾及超短基线定位系统的噪声水平、阵列上接收单元的误差特性以及和捷联惯导系统在导航性能的互补性,基于平面波近似原理,建立了SINS/USBL紧组合系统的状态方程和量测方程,并对未改正的声速误差在线估计,提出一种超短基线定位系统和捷联惯导系统紧组合算法。新算法可以将非高斯的未知声速误差进行建模后进行估计,有效提高了捷联惯导系统的误差估计性能。仿真实验结果表明,新算法能有效估计未知声速误差,滤波收敛后的精度明显优于松组合方案,具有很强的实用性。
The unknown sound velocity error will seriously affect the precision of underwater vehicle navigation when using the combination of underwater ultra-short baseline positioning system and strap-down inertial navigation system.In this paper, considering the noise level of the ultra-short baseline positioning system, the error characteristics of the receiving unit on the array and the complementarity of the navigation performance of the strap-down inertial navigation system, a tightly-coupled algorithm of the ultra-short baseline positioning system and the strap-down inertial navigation system is proposed based on the plane wave approximation principle.The new algorithm can effectively improve the error estimation performance of strap-down inertial navigation system, and the unknown sound velocity error of non-Gaussian can be modeled and then processed, so that the model is closer to the real physical model.The simulation results show that when there is an unknown sound velocity error, the positioning result and convergence effect of the loose combination are poor, the new algorithm can effectively estimate the unknown sound velocity error, and the filtering convergence accuracy is obviously better than that of the loose combination scheme.
作者
刘慧敏
王振杰
陆凯
单瑞
LIU Huimin;WANG Zhenjie;LU Kai;SHAN Rui(China Geological Survey Qingdao Institute of Marine Geology,Qingdao 266071,China;Laboratory for Marine Mineral Resources,Qingdao National Laboratory for Marine Science and Technology,Qingdao 266071,China;College of Oceanography and Space Informatics,China University of Petroleum(East China),Qingdao 266580,China)
出处
《海洋测绘》
CSCD
北大核心
2021年第3期14-18,共5页
Hydrographic Surveying and Charting
基金
国家自然科学基金(41406115)
中国地质调查局项目(DD20191003)
青岛市市南区科技发展资金(2016-3-015-ZH)。
关键词
超短基线定位系统
捷联惯导系统
平面波近似
紧组合
声速误差
ultra-short baseline positioning system
strap-down inertial navigation system
Plane wave approximation
tightly-coupled
sound velocity error
