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为了提高自主水下航行器的导航精度,提出了一种新型地形无源组合导航系统.根据水下环境特点和航行器导航高精度和低成本的要求,采用捷联式惯性导航系统、地形辅助导航系统、多普勒速度声纳、电子磁罗经和利用UKF进行信息融合的导航计算机组成新型水下地形无源组合导航系统,并给出了EKF线性滤波方程、UKF非线性滤波方程和导航传感器量测方程.对比仿真实验表明,采用建议的传感器和UKF信息融合方式比采用EKF方式提高了水下航行器导航定位的精度.采用不同的导航传感器和UKF信息融合方法的地形无源组合导航系统可以有效地减小水下航行器导航位置误差,提高组合导航的稳定性和精度.
In order to improve the navigation precision of autonomous underwater vehicles, a new type of topographic passive integrated navigation system is proposed.According to the characteristics of underwater environment and the requirements of high precision and low cost navigation of the aircraft, a strapdown inertial navigation system, The navigation system, Doppler velocity sonar, electronic magnetic compass and navigation computer using UKF for information fusion form a new underwater topography passive integrated navigation system. The EKF linear filtering equation, UKF nonlinear filtering equation and navigation sensor The simulation results show that using the proposed sensor and UKF information fusion method improves the precision of underwater vehicle navigation and positioning compared with the EKF method.Using different navigation sensors and the UKF information fusion method of the terrain passive integrated navigation system Can effectively reduce the navigation aircraft position error, improve the stability and accuracy of integrated navigation.