CAJ | 학술논문

针对水下潜器导航定位系统成本昂贵且水下定位精度不高的问题，设计了一种基于磁罗盘、多普勒测速仪(DVL)及全球卫星定位系统(GPS)的低成本组合导航系统。采用分段线性插值拟合补偿法及声速补偿法，对磁罗盘和多普勒测速仪进行校准及补偿，提高了单个导航设备的精度。最后通过卡尔曼滤波进行数据融合，提高了整个导航系统的精度，实现了水下潜器的精确导航。
침대수하잠기도항정위계통성본앙귀차수하정위정도불고적문제，설계료일충기우자라반、다보륵측속의(DVL)급전구위성정위계통(GPS)적저성본조합도항계통。채용분단선성삽치의합보상법급성속보상법，대자라반화다보륵측속의진행교준급보상，제고료단개도항설비적정도。최후통과잡이만려파진행수거융합，제고료정개도항계통적정도，실현료수하잠기적정학도항。
Because navigation system of underwater vehicle is expensive and the accuracy of underwater positioning is not high, this article designed a kind of low-cost integrated navigation system based on the magnetic compass, DVL and global satellite positioning system. Using piecewise linear interpolation compensation method and Compensation method of the speed of sound. The magnetic compass and DVL is calibrated and compensated, the accuracy of single navigation equipment is improved. Finally, according to the data fusion of Kalman filter, the accuracy of the entire navigation system is improved and the precise navigation of underwater vehicle is achieved.