CAJ | 학술논문

针对远程自主水下航行器的远程性和自主性,加之水下环境复杂,其导航和定位的精度很难保证的特点,设计一种基于相控阵DVL的自适应滤波的SINS/DVL组合导航算法.基于相控阵DVL特点,推导了速度观测方程,并对降维滤波器进行了设计和时空误差进行修正.采用50型激光陀螺研制出工程样机,并进行了河试试验和海试试验,试验结果表明采用自适应滤波算法能够进一步提高SINS/DVL自主导航的精度,并且SINS/DVL自主导航精度优于2‰D(D为航程),为远程水下航行器提供一种自主好、精度高、价格适中的导航手段.
침대원정자주수하항행기적원정성화자주성,가지수하배경복잡,기도항화정위적정도흔난보증적특점,설계일충기우상공진DVL적자괄응려파적SINS/DVL조합도항산법.기우상공진DVL특점,추도료속도관측방정,병대강유려파기진행료설계화시공오차진행수정.채용50형격광타라연제출공정양궤,병진행료하시시험화해시시험,시험결과표명채용자괄응려파산법능구진일보제고SINS/DVL자주도항적정도,병차SINS/DVL자주도항정도우우2‰D(D위항정),위원정수하항행기제공일충자주호、정도고、개격괄중적도항수단.
Long range and the complex ocean conditions make navigation and position very important for the long-range Autonomous Underwater Vehicle. In this paper, a SINS/phased array DVL integrated navigation system was designed for underwater vehicle based on adaptive filtering. According to phased array DVL characteristic, the observation equations were attained. And reduced dimension Kalman filter and time-space calibration method were designed for the SINS/DVL integrated navigation. An engineering prototype IMU was constructed based on Model 50 RLG. By using river trial and sea trial, the designed algorithm was validated. The test results show that the adaptive filter arithmetic has better performance than the conventional filter arithmetic, and the positioning accuracy is better than 2‰ distance, which offers an autonomous, high precision and appropriate price navigation method for long-range AUV.