CAJ | 학술논문

针对水下潜器长时间水下航行的隐蔽性且定位精度不高的问题，提出了一种基于惯性导航/地磁的组合导航系统。建立了惯性导航/地磁组合导航系统模型，并且利用卡尔曼滤波算法对系统进行滤波。最后通过仿真实验表明，该组合导航系统能够有效弥补单惯性导航系统精度发散的不足，提高了导航精度，实现了水下潜器的精确导航。
침대수하잠기장시간수하항행적은폐성차정위정도불고적문제，제출료일충기우관성도항/지자적조합도항계통。건립료관성도항/지자조합도항계통모형，병차이용잡이만려파산법대계통진행려파。최후통과방진실험표명，해조합도항계통능구유효미보단관성도항계통정도발산적불족，제고료도항정도，실현료수하잠기적정학도항。
Considered the problem that low positioning accuracy and difficult concealment of underwater vehicle under water long time, the integrated navigation system based on inertial navigation system (INS)/ geomagnetic is proposed. The integrated navigation system model is constructed and the integrated navigation system is filtered by the Kalman filter algorithm. Finally, simulated the submarine integrated navigation system, the result show that the integrated navigation system can eliminate the limitation of accuracy divergence with pure INS effectively and the navigation accuracy is increased, as well as the precise navigation of underwater vehicle is achieved.