水下SINS/DVL组合导航技术综述

赵俊波; 葛锡云; 冯雪磊; 周宏坤

doi:10.11993/j.issn.2096-3920.2018.01.001

水下SINS/DVL组合导航技术综述

doi: 10.11993/j.issn.2096-3920.2018.01.001

中国船舶科学研究中心, 江苏无锡, 214082

详细信息

作者简介:
赵俊波(1990-), 男, 硕士, 主要研究方向为水下组合导航技术.

中图分类号: TJ630.2; U666; TN967.7
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- 文章访问数: 1967
- HTML全文浏览量: 40
- PDF下载量: 1575
- 被引次数: 0
出版历程
- 收稿日期: 2017-10-27
- 修回日期: 2017-12-20
- 刊出日期: 2018-02-28

A Review of Underwater SINS/DVL Integrated Navigation Technology

China Ship Scientific Research Center, Wuxi 214082, China

摘要

摘要: 基于捷联惯性导航系统(SINS)与多普勒计程仪(DVL)相结合的组合导航技术近年来在自主水下航行器(AUV)导航上得到了广泛应用。文中简要介绍了水下SINS/DVL组合导航的基本原理、耦合方式和系统应用研究现状; 详细论述了数据融合处理技术、标定技术和DVL数据失效处理技术等3个关键技术及其研究现状; 最后, 探讨了水下SINS/DVL组合导航技术的发展趋势及其将要面临的技术问题。文中的研究可为水下高精度组合导航研究提供参考。
- 自主水下航行器 /
- 组合导航 /
- 捷联惯性导航系统/多普勒计程仪 /
- 卡尔曼滤波 /
- DVL数据失效
Abstract: In recent years, the integrated navigation technology based on strapdown inertial navigation system(SINS) and Doppler velocity log(DVL) has been widely applied to autonomous undersea vehicle(AUV) navigation. This paper introduces the basic principle, coupling pattern, and application researches of the underwater SINS/DVL integrated navigation system, discusses three key technologies in detail, including data fusion, calibration, and DVL data failure processing, and predicts the developing tendency of underwater SINS/DVL integrated navigation technology and some technical problems. The purpose of this paper is to provide a reference for the research of underwater high-precision integrated navigation.
- autonomous undersea vehicle(AUV) /
- integrated navigation /
- strapdown inertial navigation system(SINS)/ Doppler velocity log(DVL) /
- Kalman filtering /
- DVL data failure

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