水下潜器惯性导航定位精度控制研究

发布时间：2018-01-19 00:28

本文关键词： 地形轮廓匹配无迹卡尔曼滤波重力梯度匹配区导航　出处：《计算机仿真》2017年06期 　论文类型：期刊论文

【摘要】：针对水下潜器在各领域的应用的需要,为了实现水下潜器精确的广域定位导航,提出了利用重力梯度信息辅助水下潜器惯性导航系统(INS)。首先利用匹配区选择准则划分重力梯度匹配区,再采用地形轮廓匹配(TERCOM)算法在匹配区内进行匹配定位,无迹卡尔曼滤波(UKF)算法在非匹配区内进行跟踪定位,最后结合这两种方法对规划的两条导航路径进行了仿真。仿真结果表明,基于TERCOM和UKF的重力梯度辅助导航方法不仅能够实现水下潜器的广域定位导航,而且提高了重力梯度辅助导航的定位精度。
[Abstract]:Aiming at the need of underwater vehicle application in various fields, in order to achieve accurate wide area positioning navigation of underwater vehicle. An inertial navigation system for underwater submersible based on gravity gradient information is proposed. Firstly, the gravity gradient matching region is divided by the selection criterion of matching area. Then the terrain contour matching algorithm is used to match the location in the matching area, and the unscented Kalman filter UKF algorithm is used to track and locate in the unmatched region. Finally, two navigation paths are simulated with these two methods. The simulation results show that. The gravity gradient aided navigation method based on TERCOM and UKF can not only realize the wide area navigation of underwater vehicle, but also improve the positioning accuracy of gravity gradient aided navigation.
【作者单位】：武汉科技大学信息科学与工程学院;武汉科技大学机械自动化学院;
【基金】：国家自然科学基金(61104191,51475340) 湖北省自然科学基金(2014CFB813)
【分类号】：TN96;U675.7
【正文快照】： 151_胃水下潜器(下文简称潜器)在海底生态研究、地球物理资源勘探和军事等方面都发挥着重要作用,实现潜器的广域定位导航具有十分重要的意义。潜器主导航多采用惯性导航系统⑴,惯导中陀螺漂移引起的导航误差随时间而累积,有必要引进其它的辅助设备,定期对导航系统误差参数进

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