| 一种考虑洋流影响的AUV组合导航算法 |
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| 引用本文： | 张福斌,鲍鸿杰,段小伟,沈俊元. 一种考虑洋流影响的AUV组合导航算法[J]. 计算机测量与控制, 2012, 20(2): 513-515,522 |
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| 作者姓名： | 张福斌 鲍鸿杰 段小伟 沈俊元 |
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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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| 基金项目： | 国家自然科学基金资助项目，西北工业大学基础研究基金资助项目 |
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| 摘 要： | 针对由捷联惯导(SINS)、多普勒测速仪(DVL)以及深度传感器组成的自主水下航行器(AUV)组合导航系统,当DVL测量距离无法达到海底的情况下,洋流是该系统主要误差源之一的问题,在SINS/DVL组合导航算法的基础上,提出了一种在原算法中加入洋流信息提高系统导航定位精度的方法,并将以上两种导航算法解算出的AUV位置信息进行仿真对比,仿真结果表明:与未考虑洋流信息的算法相比,加入洋流信息的算法能够有效提高AUV的定位精度。
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| 关 键 词： | 自主水下航行器 捷联惯导系统 多普勒测速仪 洋流 |
A AUV Integrated Navigation Algorithm Considering the Effect of Ocean Current |
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| Zhang Fubin , Bao Hongjie , Duan Xiaowei , Shen Junyuan. A AUV Integrated Navigation Algorithm Considering the Effect of Ocean Current[J]. Computer Measurement & Control, 2012, 20(2): 513-515,522 |
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| Authors: | Zhang Fubin Bao Hongjie Duan Xiaowei Shen Junyuan |
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| Affiliation: | (College of Marine Engineering,Northwestern Polytechnical University,Xi’an 710072,China) |
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| Abstract: | A navigation system of autonomous underwater vehicle(AUV) built up by strapdown inertial navigation system(SINS)、Doppler velocity log(DVL) and depth sensor is investigated.To solve the problem that when the measurement distance of DVL cannot reach the seafloor,ocean current is a main error source in the localization process of the navigation system,the ocean current is taken into account in the arithmetic of the SINS/DVL navigation system.The AUV position of simulation about the arithmetic with and without considering the ocean current is carried out to make comparison.The results of simulation show that localization precision can be raised by considering the ocean current. |
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| Keywords: | autonomous underwater vehicle(AUV) strapdown inertial navigation system(SINS) Doppler velocity log(DVL) ocean current |
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