水下航行器INS/GPS/DVL组合导航方法

New Application of Federated Filter in INS/GPS/DVL Integrated Navigation System for AUV

China Electronics Technology Group Corporation No. 20th Research Institute, Xi’an 710068, China

摘要: 针对自主水下航行器( AUV ) 受水下环境的局限难以提高导航性能的问题, 提出了一种融合多传感器信息的INS /GPS /DVL组合导航方案, 利用分散化滤波中的联邦Kalman滤波来实现AUV组合导航方案, 通过动态信息分配系数优化了各子系统的导航信息, 增强了AUV的导航性能。仿真结果表明, 该方案充分提取了导航传感器的信息, 有效地提高了AUV的导航精度和水下定位能力。
- 自主水下航行器 /
- 联邦滤波器 /
- 组合导航 /
- 导航传感器
Abstract: Aiming at the problem that autonomous underwater vehicle(AUV) navigation system can not fulfill the requirement of high precision for navigation and location because of the limitation of underwater environment, an inertial navigation system/global position system/Doppler velocity log (INS /GPS /DVL) integrated navigation system fusing multi-sensor information is proposed. In this integrated system, the federated Kalman filter is adopted, and each navigation subsystem is optimized through dynamic information sharing coefficient to improve the performance of the integrated navigation system. Simulation results show that the present system can sufficiently extract the information of the navigation sensors, and effectively improve AUV navigation system’s precision and underwater localization ability.
- autonomous underwater vehicle(AUV) /
- federated filter /
- integrated navigation /
- navigation sensor

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