CAJ | 학술논문

磁罗盘常用于自主式水下航行器(Autonomous Underwater Vehicle,AUV)导航系统中对惯性器件的姿态测量进行校正.为了补偿载体内干扰磁场对磁罗盘航向解算带来的误差,采用基于椭圆假设的误差模型,通过最小二乘拟合椭圆,获得磁罗盘误差补偿算法中椭圆模型的各分布参数.陆上仿真实验的结果表明,基于椭圆假设的实时补偿算法能够获得稳定、高精度的航向角测量,不同路径类型下的误差精度可提高60%至80%.补偿结果为水下导航系统算法设计提供了精度依据.
자라반상용우자주식수하항행기(Autonomous Underwater Vehicle,AUV)도항계통중대관성기건적자태측량진행교정.위료보상재체내간우자장대자라반항향해산대래적오차,채용기우타원가설적오차모형,통과최소이승의합타원,획득자라반오차보상산법중타원모형적각분포삼수.륙상방진실험적결과표명,기우타원가설적실시보상산법능구획득은정、고정도적항향각측량,불동로경류형하적오차정도가제고60%지80%.보상결과위수하도항계통산법설계제공료정도의거.
Magnetic compass is often used in Autonomous Underwater Vehicle navigation system with inertial unit for gyroscope calibration.In order to compensate the magnetic disturbance within the carrier,an error model based on ellipse hypothesis is proposed,which uses an algorithm called direct least squares fitting of ellipses to determine the parameter of an ellipse.The simulation result of land testing shows that the real-time algorithm of magnetic compass error compensation is efficient.The improvement is ranging from 60% to 80% based on different routes,and the yaw measurement is steady and accurate.This result provides basis for the design of underwater navigation system.