现代电子技术
現代電子技術
현대전자기술
MODERN ELECTRONICS TECHNIQUE
2014年
13期
139-142
,共4页
水下航行体%组合导航%预先补偿%卡尔曼滤波
水下航行體%組閤導航%預先補償%卡爾曼濾波
수하항행체%조합도항%예선보상%잡이만려파
underwater vehicle%integrated navigation%pre-compensation%Kalman filtering
针对水下航行体INS/DVL组合导航系统，提出了基于DVL测速误差预先补偿的卡尔曼滤波方案，介绍了测速误差预先补偿方法和补偿措施。通过试验验证，基于DVL测量速度误差预先补偿的组合导航技术改善了系统滤波收敛特性，提高了导航定位精度。
針對水下航行體INS/DVL組閤導航繫統，提齣瞭基于DVL測速誤差預先補償的卡爾曼濾波方案，介紹瞭測速誤差預先補償方法和補償措施。通過試驗驗證，基于DVL測量速度誤差預先補償的組閤導航技術改善瞭繫統濾波收斂特性，提高瞭導航定位精度。
침대수하항행체INS/DVL조합도항계통，제출료기우DVL측속오차예선보상적잡이만려파방안，개소료측속오차예선보상방법화보상조시。통과시험험증，기우DVL측량속도오차예선보상적조합도항기술개선료계통려파수렴특성，제고료도항정위정도。
For INS/DVL integrated navigation system in a long-distance underwater vehicle,the scheme of Kalman filtering based on the pre-compensation of velocity measurement deviation generated by DVL is proposed. The methods and measures of pre-compensation of the velocity measurement deviation are introduced. The test validation result shows that the integrated navi-gation technology based on pre-compensation of the velocity measurement deviation caused by DVL can improve the filtering con-vergence features and the navigation accuracy of the system.
