模型辅助和洋流估计下的UUV导航定位方法

严浙平; 宋金雪

doi:10.11993/j.issn.2096-3920.2017.04.003

模型辅助和洋流估计下的UUV导航定位方法

doi: 10.11993/j.issn.2096-3920.2017.04.003

哈尔滨工程大学自动化学院, 黑龙江哈尔滨, 150001

基金项目: 国家自然科学基金项目资助(51679057); 2016年黑龙江省杰出青年科学基金项目资助(JC2016007)

详细信息

作者简介:
严浙平(1972-), 男, 博士, 教授, 研究方向为水下无人潜航器的总体设计、智能控制和运动控制.

中图分类号: TP6; TP242.6; TN929.3
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- 被引次数: 0
出版历程
- 收稿日期: 2017-05-05
- 修回日期: 2017-06-07
- 刊出日期: 2017-10-31

UUV Navigation and Positioning Method Based on Model-Aided and Ocean Current Estimation

College of Automation Harbin Engineering University, Harbin 150001, China

摘要

摘要: 针对深海航行中无人水下航行器(UUV)受多普勒测速仪(DVL)测距的限制, 无法进行对底跟踪的问题, 提出了洋流估计下的UUV动力学模型导航定位方法。利用基于扩展卡尔曼滤波(EKF)的洋流估计方法, 解算出UUV作业海域洋流信息, 将洋流信息加入到UUV系统模型中, 对UUV动力学模型无法感知外界环境产生的误差进行了补偿, 从而提高了导航定位的精度。仿真结果证明了该算法的可行性以及有效性, 对未来UUV深海探索具有很好的实用性。
- 无人水下航行器(UUV) /
- 动力学模型 /
- 扩展卡尔曼滤波 /
- 洋流估计 /
- 导航定位
Abstract: For deep sea navigation, unmanned undersea vehicle(UUV) cannot track to the bottom because of the limitation of Doppler velocity log(DVL) measured distance. Therefore, a navigation and positioning method based on the UUV dynamic model is proposed in this paper. The estimation method of ocean current based on the extended Kalman filter is employed to calculate the ocean current information in UUV operating area, then the information is added into the UUV system model to compensate the errors induced by the model due to its unable perception of external environment, hence the accuracy of navigation and positioning is improved. Simulation proves the feasibility and effectiveness of the proposed method. This method is able to be applied to future UUV deep sea exploration.
- unmanned undersea vehicle(UUV) /
- dynamics model /
- extended Kalman filter(EKF) /
- ocean current estimation /
- navigation and positioning

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参考文献(11)

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