CAJ | 학술논문

针对UUV水下作业时航位推算存在导航误差积累的问题，研究了水下应答器辅助航位推算组合导航算法。采用“当前”统计模型作为航位推算模型，更准确地描述了航行器的运动状态。利用水下应答器与航位推算算法相组合，对航位推算导航误差进行校正。为获得更好的滤波效果，采用平方根容积卡尔曼滤波算法作为组合导航系统的滤波算法，并将其与EKF滤波算法进行比较。仿真实验表明，平方根容积卡尔曼滤波算法较EKF算法具有更好的滤波精度；UTP/DR组合导航算法有效避免了因导航误差积累而导致的导航定位误差发散问题，获得了较好的导航定位效果。
침대UUV수하작업시항위추산존재도항오차적루적문제，연구료수하응답기보조항위추산조합도항산법。채용“당전”통계모형작위항위추산모형，경준학지묘술료항행기적운동상태。이용수하응답기여항위추산산법상조합，대항위추산도항오차진행교정。위획득경호적려파효과，채용평방근용적잡이만려파산법작위조합도항계통적려파산법，병장기여EKF려파산법진행비교。방진실험표명，평방근용적잡이만려파산법교EKF산법구유경호적려파정도；UTP/DR조합도항산법유효피면료인도항오차적루이도치적도항정위오차발산문제，획득료교호적도항정위효과。
To solve the dead reckoning navigation algorithm error accumulated problems, the underwater transponder aux-iliary navigation calculates integrated navigation algorithm. Uses the current statistical model for traffic prediction model, a more accurate description of the vehicle movement state has been obtained. Using underwater transponder combined with navigation calculation algorithm, to air a reckon navigation error correction, in order to obtain a better filtering effect, the square root cubature Kalman filter has been introduced as the filtering algorithm of integrated navigation system, and compared with the EKF filtering algorithm. Simulation experiments show that the square root cubature Kalman filter has better filtering accuracy than the EKF filtering algorithm, and UTP/DR integrated navigation algorithm effectively avoids the navigation positioning error caused by the navigation error accumulated divergence problem, obtains the good effect of navigation and positioning.