单信标导航精度分析与航路规划

梁国龙; 张新宇; 孙思博; 付 进

doi:10.11993/j.issn.2096-3920.2019.02.009

单信标导航精度分析与航路规划

doi: 10.11993/j.issn.2096-3920.2019.02.009

1.
哈尔滨工程大学水声技术重点实验室, 黑龙江哈尔滨, 150001
2.
海洋信息获取与安全工信部重点实验室哈尔滨工程大学, 工业和信息化部, 黑龙江哈尔滨, 150001
3.
哈尔滨工程大学水声工程学院, 黑龙江哈尔滨, 150001
4.
青岛海纳水下信息技术有限公司, 山东青岛, 266500

基金项目: 国家重点研发计划(2017YFC0306900); 技术基础科研项目(JSJL2016604B003); 黑龙江省博士后科研启动金（LBH-Q15025）；青岛海洋科学与技术国家实验室开放基金(QNLM20160RP0102)

详细信息

作者简介:
梁国龙(1964-), 男, 博士, 教授，研究方向为水下定位与导航、水声信号处理和水声通信技术等.

中图分类号: TJ630.33; U675.7
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- 被引次数: 0
出版历程
- 收稿日期: 2018-08-06
- 修回日期: 2018-12-01
- 刊出日期: 2019-04-30

Analysis of Single Beacon Navigation Accuracy and Path Planning

1.
Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China
2.
Key Laboratory of Marine Information Acquisition and SecurityHarbin Engineering University, Ministry of Industry and Information Technology, Harbin 150001, China
3.
College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China
4.
Qingdao Haina Underwater Information Technology Co., Ltd., Qingdao 266500, China

摘要

摘要: 当今, 精确导航已成为自主水下航行器(AUV)发展的关键技术之一。与传统导航方式相比, 单信标导航具有布阵简单和成本低的优点, 但是导航精度还有待进一步提高。文中基于偏微分矩阵, 对导航精度进行了理论推导, 分析了单信标导航方式对几种典型误差源的鲁棒性。并在此基础上进行了单信标导航的航路规划, 给出了定位点优选方法及航路优化方法。最后, 通过仿真试验验证了偏微分矩阵方法的正确性及航路规划方案的有效性。文中研究可为AUV精确制导提供参考。
- 自主水下航行器 /
- 单信标导航 /
- 导航精度 /
- 航路规划
Abstract: Compared with traditional navigation, single beacon navigation has the advantages of simple distribution and low cost, however, its accuracy of navigation needs to be further improved. This paper deduces the single beacon navigation accuracy theoretically by means of partial differential matrix, and analyzes the robustness of single beacon navigation to several kinds of errors. Then, based on analysis of single beacon navigation accuracy, a path planning scheme, as well as optimum selection of positioning points and path optimization, is presented. Simulation experiment validates the correctness of the partial differential matrix method and the effectiveness of the path planning scheme. This research may provide a reference for autonomous undersea vehicle(AUV) precise guidance.
- autonomous undersea vehicle(AUV) /
- single beacon navigation /
- navigation accuracy /
- path planning

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参考文献(13)

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