| 无人水下航行器SINS/DVL组合导航方法研究 |
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| 引用本文： | 于旭.无人水下航行器SINS/DVL组合导航方法研究[J].辽东学院学报(自然科学版),2009,16(1). |
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| 作者姓名： | 于旭 |
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| 作者单位： | 沈阳职业技术学院,计算机学院,沈阳110045 |
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| 摘 要： | 给出了应用于无人水下航行器远程航行的基于SINS/DVL的组合导航方法。利用Kalman滤波算法融合DVL测量的绝对速度估计SINS的导航参数误差,并进行校正。仿真结果说明这种方法能够有效提高导航系统精度,从仿真曲线还得到了闭合航路能够大幅度消除导航误差的结论。
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| 关 键 词： | 无人水下航行器 捷联惯性导航系统 多普勒计程仪 导航误差 闭环航路 |
SINS/DVL Integrated Navigation Method for Unmanned Underwater Vehicles |
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| YU Xu.SINS/DVL Integrated Navigation Method for Unmanned Underwater Vehicles[J].Journal of Liaodong University：Natural Sciences,2009,16(1). |
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| Authors: | YU Xu |
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| Affiliation: | Computer School;Shenyang Polytechnic College;Shenyang 110045;China |
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| Abstract: | The application of SINS(Strapdown Inertial Navigation System)/ DVL(Doppler Velocity Log) integrated navigation technology for unmanned underwater vehicles is presented.The navigation parameter errors of SINS are estimated by Kalman filter algorithm mixed with absolute velocity obtained by DVL.The simulation results prove that this method can enhance navigation precision effectively.It is also proposed that the closed track is propitious to eliminate the majority of navigation error. |
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| Keywords: | unmanned underwater vehicle SINS DVL navigation error closed track |
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