水下航行器精确定位系统解算方法研究及实现

发布时间：2017-12-27 03:27

本文关键词：水下航行器精确定位系统解算方法研究及实现　出处：《大连理工大学》2016年硕士论文　论文类型：学位论文

【摘要】：目前,水下航行器在海洋资源勘探、开发和海洋工程作业中的应用越来越广泛,但由于海洋水下工作环境相当复杂,水下航行器的精确定位一直是一个难题。随着卫星定位技术及水声技术的不断进步,水下卫星定位技术凭借其精度高、灵活性好等优势,己成为水下航行器精确定位的主流技术手段。本文以某型拖带浮体的载人水下航行器定位为研究背景,参考卫星定位与超短基线水声定位相结合的定位方式,给出了该型水下航行器定位系统的精确定位算法,并设计开发了系统的测量软件。文章在给出定位系统硬件设计的基础上,首先应用坐标旋转变换理论,通过数学推导,对系统的定位解算方法及误差估算方法进行了建模分析与研究；接着运用蒙特卡罗方法,对定位测量误差进行了仿真分析；之后,研究了样条插值、线性插值、α-β滤波器和卡尔曼滤波等方法,建立了定位数据处理模型,并对定位数据处理算法进行了仿真分析；最后,给出了该水下高精度定位系统的软件设计流程和测试方法。系统联合验收测试的结果表明,本文给出的定位解算方法和数据处理方法可行,系统软件功能完备、运行可靠,达到了既定设计要求。
[Abstract]:At present, the application of underwater vehicle to marine resources exploration, development and offshore engineering is more and more extensive. However, due to the complexity of the underwater working environment, the precise positioning of underwater vehicle is always a difficult problem. With the continuous progress of satellite positioning technology and underwater acoustic technology, underwater positioning technology has become the mainstream technology for precise positioning of underwater vehicle with its advantages of high accuracy and flexibility. Taking the positioning of a manned underwater vehicle with a floating body as the research background, a precise positioning algorithm for the positioning system of the underwater vehicle is presented based on the positioning method combined with the positioning of the satellite and the ultra short baseline underwater acoustic positioning, and the measurement software of the system is designed and developed. Based on the design of hardware system are located, the first application of coordinate transform theory, through mathematical derivation, the analysis and Research on the modeling of the system positioning calculation method and error estimation method; then using Monte Carlo method, the simulation analysis of positioning measurement errors; after the spline interpolation, linear interpolation, alpha beta filter and Calman filter, a data processing model, and the data processing algorithms are simulated; finally, this paper presents a high accuracy positioning system of the underwater software design process and test method. The results of system joint acceptance test show that the location solution method and data processing method presented in this paper are feasible, and the system software has complete function and reliable operation, and has achieved the established design requirements.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U666.1

【参考文献】