一种水下GPS系统及其在蛙人定位导航中的应用

研究了一种适用于蛙人导航的水下GPS系统。针对蛙人执行水下任务所需的高精度导航,提出了一种由主动声纳浮标作为定位基站的GPS定位系统,介绍了该系统基于延时测量的定位原理和求解方法,给出了Kalman滤波器和扩展Kalman滤波器的设计,并通过数值仿真进行了验证,结果表明：为提高定位精度,在定位解算的基础上进行滤波平滑是必要的。

A type of underwater GPS system and its application to diver positioning and navigation

In order to supply the navigation service with high accuracy for the diver in underwater actions,a scheme of underwater GPS system which takes the active sonobuoy as a communication beacon,is proposed.The principle of target positioning is based on the measurements of sound propagation delay between the target and beacons,and the algorithm for solving the nonlinear equations of target' s position is also introduced.Thereafter,the Kalman filter and the extended Kalman filter are designed for improving the accuracy of position estimation,and their performance is demonstrated via numerical simulations.The results show that it is necessary to integrate the smoothing techniques such as the Kalman filtering into the positioning solver to improve the navigation accuracy.