CAJ | 학술논문

由于GPS和无线电信号在水下衰减很快而无法使用，因此以惯性导航为核心，加以其它声学辅助导航设备的组合导航系统正适合水下航行器的使用环境。以捷联惯性系统/超短基线/多普勒测速仪/磁航向仪组合导航系统为研究对象，给出了联邦滤波结构，并利用?2残差检测法诊断出子系统的故障并进行系统重构从而不影响系统性能，最后对组合系统进行了仿真，成功检测出了超短基线系统定位故障并及时进行了隔离。姿态误差和速度误差在故障发生和消失时刻由于系统重构有轻微跳动，其它时刻均保持较高精度，当故障消失时位置误差又恢复到正常量级（5~10 m）。仿真结果表明，所提出的 SINS/水下声学辅助设备组合导航系统能够提供水下航行器精确的速度、姿态及位置信息，并能够正确及时检测并隔离故障。
유우GPS화무선전신호재수하쇠감흔쾌이무법사용，인차이관성도항위핵심，가이기타성학보조도항설비적조합도항계통정괄합수하항행기적사용배경。이첩련관성계통/초단기선/다보륵측속의/자항향의조합도항계통위연구대상，급출료련방려파결구，병이용?2잔차검측법진단출자계통적고장병진행계통중구종이불영향계통성능，최후대조합계통진행료방진，성공검측출료초단기선계통정위고장병급시진행료격리。자태오차화속도오차재고장발생화소실시각유우계통중구유경미도동，기타시각균보지교고정도，당고장소실시위치오차우회복도정상량급（5~10 m）。방진결과표명，소제출적 SINS/수하성학보조설비조합도항계통능구제공수하항행기정학적속도、자태급위치신식，병능구정학급시검측병격리고장。
GPS and radio signals are unable to be used as decay soon underwater, while the integrated navigation system is suitable for use in underwater vehicle environment with the inertial navigation assisted with other acoustics navigation equipments. In this paper, the strapdown inertial system/ultra-short baseline/Doppler speedometer combination navigation system is studied. The federal filtering structure of strapdown inertial system assisted with the underwater acoustics system is given. The fault detection modules can diagnose each subsystem failure using the residual detection method and reconfigure system structure so as not to affect the system performance. Finally, the simulation result shows that the ultra-short baseline system failure is successfully detected and isolated timely. Attitude error and speed error maintain a high accuracy at all times except at appear and disappear moments of failures due to slight beating caused by system reconfiguration. When the fault disappears, the position error is returned to the normal order of magnitude (5-10 m). Simulation results show that the proposed SINS/underwater acoustic auxiliary equipment integrated navigation system can provide accurate underwater vehicle speed, attitude and position information, and be able to correctly and timely detect and isolate faults.