长航时UUV导航校正与性能评估方法

陈 科; 叶开富; 杜 度; 李 杨

doi:10.11993/j.issn.2096-3920.2019.03.018

长航时UUV导航校正与性能评估方法

doi: 10.11993/j.issn.2096-3920.2019.03.018

海军研究院, 北京, 100161

基金项目: 国家自然科学基金(51679057)

详细信息

作者简介:
陈科(1980-), 男, 硕士, 工程师, 主要研究方向为无人水下航行器总体技术.

中图分类号: TJ630.33; U674.941; U675.7
计量
- 文章访问数: 556
- HTML全文浏览量: 0
- PDF下载量: 333
- 被引次数: 0
出版历程
- 收稿日期: 2018-10-08
- 修回日期: 2019-04-06
- 刊出日期: 2019-06-30

Navigation Calibration and Performance Evaluation Method of Long-Endurance UUV

Naval Research Academy, Beijing 100161, China

摘要

摘要: 为了提高长航时UUV的导航精度, 规范其导航性能评价标准, 文中提出一种长航时UUV导航校正与性能评估方法。首先概述了UUV的常用导航方法, 给出长航时UUV导航试验需求。进而提出长航时UUV导航校正与性能评估方法的具体实现流程, 阐述了其性能评价指标, 并针对该方法提出相关建议。最后利用水下声学应答器(UTP)作为辅助导航设备, 对UUV导航结果进行校正。仿真结果表明, 所提方法能够有效抑制长航时UUV导航的累积误差。该方法可为提高长航时UUV导航精度提供理论参考。
- 长航时无人水下航行器 /
- 导航校正 /
- 性能评估
Abstract: To improve navigation accuracy of long-endurance unmanned undersea vehicle(UUV) and to standardize the navigation performance evaluation specifications, a navigation calibration and performance evaluation method of long- endurance UUV is proposed. Firstly, the common navigation methods of UUV are summarized, and navigation test requirements of long-endurance UUV are provided. Then the process of the navigation calibration and performance evaluation is put forward, the performance evaluation specifications are given, and some suggestions for the method are offered. Finally, the underwater transponder positioning (UTP) is used as an auxiliary navigation equipment to correct the UUV navigation results. Simulation results show that the proposed method can effectively suppress the cumulative error of long-endurance UUV navigation. This method may provide a reference for improving the accuracy of long-endurance UUV navigation.
- long-endurance unmanned undersea vehicle(UUV) /
- navigation calibration /
- performance evaluation

HTML全文

参考文献(13)

[1]	Bosch J, Gracias N, Ridao P, et al. Close-range Tracking of Underwater Vehicles Using Light Beacons[J]. Sensors, 2016, 16(4): 429-454.
[2]	严浙平, 周佳加. 水下无人航行器控制技术[M]. 北京:国防工业出版社, 2015: 4-15.
[3]	Jacobi M. Autonomous Inspection of Underwater Struc-tures[J]. Robotics and Autonomous Systems, 2015, 67: 80-86.
[4]	Wynn R B, Huvenne V A I, Le Bas T P, et al. Autonomous Underwater Vehicles(AUVs): Their Past, Present and Future Contributions to the Advancement of Marine Geo-science[J]. Marine geology, 2014, 352: 451-468.
[5]	于浩淼. 非线性因素约束下欠驱动UUV 轨迹跟踪[D]. 哈尔滨: 哈尔滨工程大学, 2016.
[6]	Rice H, Kelmenson S, Mendelsohn L. Geophysical Navigation Technologies and Applications[C]//IEEE PLANS 2004 Position Location and Navigation Symposium. Monterey, CA, USA: IEEE, 2004: 618-624.
[7]	Marani G, Choi S K, Yuh J. Underwater Autonomous Manipulation for Intervention Missions AUVs[J]. Ocean engineering, 2009, 36(1): 15-23.
[8]	James C. Kinsey, Louis L. Whitcomb. Preliminary Field Experience with the DVLNAV Integrated Navigation System for Oceanographic Submarines[J]. Control engineering practice, 2004, 12(12): 1541-1549.
[9]	黄德鸣, 程禄. 惯性导航系统[M]. 北京: 国防工业出版社, 1986: 62-98.
[10]	Stutters L, Liu H, Tiltman C, et al. Navigation Technolo-gies for Autonomous Underwater Vehicles[J]. ?IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews), 2008, 38(4): 581-589.
[11]	Nicosevici T, Garcia R, Carreras M. A Review of Sensor Fusion Techniques for Underwater Vehicle Navigation[C]// Proc. of oceans’04 MTS/IEEE Techno-ocean ‘04 conference. Girona, Spain: IEEE, 2004: 1600-1605.
[12]	朱家海. 惯性导航[M]. 北京: 国防工业出版社, 2008: 2-3.
[13]	邓超. UTP辅助UUV导航误差校准方法研究[D]. 哈尔滨: 哈尔滨工程大学, 2015: 17-96.