CAJ | 학술논문

针对 UUV 水下定位时 DVL 对地速度信息失效或定位系统无 DVL 传感器,而不能满足水下长时间定位需要的问题,基于 ADCP 水层跟踪特性研究了改进的航位推算算法.为降低随机误差对 ADCP 测量数据的影响,引入 Mallat 算法来分解和重建速度信号,还原 UUV 真实的速度信息.为验证本文所提航位推算算法的有效性,对某湖试数据进行后处理,结果表明,基于该航位推算算法的定位方案不仅提高了定位系统的完整性和鲁棒性,而且满足定位精度要求.
침대 UUV 수하정위시 DVL 대지속도신식실효혹정위계통무 DVL 전감기,이불능만족수하장시간정위수요적문제,기우 ADCP 수층근종특성연구료개진적항위추산산법.위강저수궤오차대 ADCP 측량수거적영향,인입 Mallat 산법래분해화중건속도신호,환원 UUV 진실적속도신식.위험증본문소제항위추산산법적유효성,대모호시수거진행후처리,결과표명,기우해항위추산산법적정위방안불부제고료정위계통적완정성화로봉성,이차만족정위정도요구.
To solve the problem that failure of the velocity from DVL occurence during the positioning process or that even there is no DVL in the positioning system, which means that the positioning system couldn’t satisify the requirement of long-time positioning underwater, this paper addresses an improved dead reckoning method based on ADCP water-track characterstics.To decrease stochastic errors’ effect on data measured by ADCP, Mallat Algorithm is adopted in this paper to decompose and reconstruct the velocity signal, and revert the true velocity information of UUV. In order to demonstrate the effectives of the introduced dead reckoning method, post-processing experiments were done. And the result shows that the positioning solution based on this dead reckoning method not only improves the integrality and robustness, but also satisfies the requirement of positioning accuracy.