| 一种水下航行器组合导航系统研究 |
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| 引用本文： | 张福斌,高剑,崔荣鑫. 一种水下航行器组合导航系统研究[J]. 鱼雷技术, 2007, 15(1): 19-21 |
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| 作者姓名： | 张福斌 高剑 崔荣鑫 |
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| 作者单位： | 西北工业大学,航海学院,陕西,西安,710072 |
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| 摘 要： | 设计了一种采用陀螺罗经和多普勒速度仪组合加GPS间歇校正的水下航行器组合导航系统，建立了该组合导航系统的无迹卡尔曼滤波模型，并利用MATLAB软件对其进行了数学仿真验证。从仿真结果看出，陀螺罗经的误差值与陀螺罗经误差滤波估计值基本吻合，这表明，GPS间歇校正的引入可以实现航行器位置高精度校准和陀螺罗经随机常值误差的准确估计，该组合导航系统能够满足一般水下航行器的导航定位的需要。
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| 关 键 词： | 水下航行器 组合导航系统 无迹卡尔曼滤波 误差估计 |
| 文章编号： | 1673-1948（2007）01-0019-03 |
| 收稿时间： | 2006-10-20 |
| 修稿时间： | 2006-10-202007-01-07 |
An Integrated Navigation System for Underwater Vehicles |
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| ZHANG Fu-bin,GAO Jian,CUI Rong-xin. An Integrated Navigation System for Underwater Vehicles[J]. Torpedo Technology, 2007, 15(1): 19-21 |
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| Authors: | ZHANG Fu-bin GAO Jian CUI Rong-xin |
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| Abstract: | An integrated navigation system for underwater vehicles is designed,which integrates gyrocompass,Doppler and GPS.The unscented Kalman filter(UKF) model for the system is built up,and a numerical simulation is performed with the software Matlab.The simulation results show that GPS can implement the high accuracy position correction,and can estimate the stochastic error of gyrocompass by rule and line.The system can meet the requirements of underwater vehicles for navigation and position. |
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| Keywords: | underwater vehicle integrated navigation system unscented Kalman filter(UKF) error estimation |
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