Correcting Localization Error with a Single Beacon for AUV
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摘要: 针对配置有捷联惯导(SINS)/多普勒速度仪(DVL)/深度传感器组合导航定位系统的自主水下航行器(AUV)的定位误差随时间增大, 以及采用GPS修正定位误差引起的AUV隐蔽性降低等问题, 提出了一种利用水下固定单信标修正SINS/DVL/深度传感器组合定位误差的方法。该方法首先利用水声测距原理测量出AUV与水下固定单信标的距离, 然后基于空间几何关系计算出AUV的实时位置, 最后通过卡尔曼滤波连续修正AUV的定位误差。仿真结果表明, 该方法可以有效减小AUV的定位误差, 有较好的工程应用价值。Abstract: The localization error of an AUV′s integrated navigation positioning system, which is composed of strapdown inertial navigation system (SINS), Doppler velocity logger (DVL) and depth sensor, increases with time, and the hidden performance of the AUV will decrease in correcting the error via GPS. In this paper, a new method is proposed to correct the localization error of the AUV’s navigation system by adopting a fixed beacon under water. In this method, the principle of acoustic ranging is used to measure the distance between AUV and beacon, then the real-time position of the AUV is calculated according to spacial geometric relationships, and the localization error of the AUV′s navigation system is corrected by Kalman filter. Simulation results show that the present approach can correct AUV′s localization error effectively, which infers an application value in engineering.
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