基于单浮标的水声/惯性组合导航定位与试验验证

惯性导航由于其无源、自主等优点,在水下导航中处于中心地位,但惯性导航误差随时间增大,很难长时间提供精确的导航信息.针对此问题,本文提出一种基于单浮标的水声/惯性组合导航定位方法,借助水下潜航器的速度和方位信息,通过实际浮标和3个虚拟浮标的位置以及与水下潜航器之间的4个距离观测量,采用长基线导航定位技术,实现水下潜航器导...

Single-Buoy-Based Underwater Acoustic/Inertial Integrated Navigation Positioning and Experimental Verification

Inertial navigation is at the center of underwater navigation due to its passive and autonomous advantages. However, the error of inertial navigation increases with time, and it is difficult to provide accurate navigation information for a long time. In response to this problem, the paper proposes a single-buoy-based underwater acoustic/inertial integrated navigation and positioning method. With the help of the speed and azimuth information of the underwater submersible, the positions of the actual buoy and three virtual buoys, and the relationship with the underwater submersible, using long baseline navigation to realize the navigation and positioning of the underwater submersible. The test results show that, compared with inertial navigation, this method reduces errors and improves positioning accuracy, and it can ensure that the underwater submarine can carry out underwater combat missions during long voyages.