一种基于双圆域的AUV自主导航定位精度计数考核方法

张 宁; 张福斌; 鲍鸿杰; 张永清

doi:10.11993/j.issn.1673-1948.2011.01.009

一种基于双圆域的AUV自主导航定位精度计数考核方法

doi: 10.11993/j.issn.1673-1948.2011.01.009

1.
西北工业大学航海学院, 陕西西安, 710072
2.
水下信息与控制重点实验室, 陕西西安, 710072

基金项目: 水下信息与控制重点实验室基金资助项目(9140C230503090C23)，船舶工业国防科技预研基金项目(08J4.2.2)

详细信息

作者简介:
张宁(1969-), 男, 在读博士, 主要从事水下航行器导航与控制技术研究.

中图分类号: TJ630.33; TJ765
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- 被引次数: 0
出版历程
- 收稿日期: 2009-11-28
- 修回日期: 2010-05-04
- 刊出日期: 2011-02-28

A Count Assessment Method of Navigation Localization Accuracy Based on Dual Circular Area for AUV

1.
College of Marine Engineering, Northwestern Polytechnical University, Xi′an 710072, China
2.
Science and Tech-nology on Underwater Information and Control Laboratory, Xi′an 710072, China

摘要

摘要: 导航定位精度是自主水下航行器（AUV）一项重要的技术指标。基于概率圆计数考核方法, 取概率圆半径较小时, 当AUV的导航精度远低于指标时不利于快速做出判定; 而取较大时, 当AUV导航系统存在较大的系统偏差仍有可能判定为合格。针对上述不足, 该文根据AUV的基本轨迹及其航行轨迹测量的特点, 提出了一种基于双圆域的AUV导航定位精度计数考核方法, 通过研制方和用户方风险共担的原则合理调整2个圆域的半径, 不仅可以在AUV实际导航定位精度远低于指标要求情况下进行快速判定, 而且有助于降低导航系统的系统误差对考核的影响。仿真验证表明, 该方法科学、合理, 具有工程应用价值。
- 自主水下航行器 /
- 导航定位精度 /
- 考核 /
- 双圆域 /
- 概率圆
Abstract: Navigation localization accuracy is an important technical index for an autonomous underwater vehicle (AUV). The probability circle assessment method is not easy to make a quick decision when the navigation accuracy is much lower than the accuracy index and the probability circle radius is selected too small, or it is possible to make a wrong decision when the navigation accuracy does not meet the index and the probability circle radius is set too big. To solve this problem, an assessment method using the dual circular area for underwater navigation accuracy is proposed in this paper. By properly adjusting radiuses of the two circular areas based on the principle of risk-sharing between the devel-oper and the user, the proposed method can reduce the impacts of navigation system errors on assessment, and make quick decisions when AUV navigation accuracy is much lower than the navigation index. Simulation results demonstrate the feasibility and effectiveness of the proposed method.
- autonomous underwater vehicle (AUV) /
- navigation localization accuracy /
- assessment /
- dual circular area /
- probability circle

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参考文献(5)

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