基于DR/USBL的HOV组合导航算法

刘贤俊; 叶鹏; 张同伟; 刘锡祥; 盛广润

doi:10.11993/j.issn.2096-3920.202105003

基于DR/USBL的HOV组合导航算法

doi: 10.11993/j.issn.2096-3920.202105003

1.
武汉第二船舶设计研究所, 湖北武汉, 430205
2.
中国人民解放军63788部队, 陕西渭南, 714000
3.
国家深海基地管理中心, 山东青岛, 266237
4.
东南大学仪器科学与工程学院, 江苏南京, 210096

详细信息

作者简介:
刘贤俊(1990-), 男, 博士, 主要研究方向为惯性导航与组合导航技术

中图分类号: U674.941; TN967.2
计量
- 文章访问数: 109
- HTML全文浏览量: 42
- PDF下载量: 22
- 被引次数: 0
出版历程
- 收稿日期: 2021-05-08
- 修回日期: 2021-11-09
- 网络出版日期: 2022-07-29

DR/USBL Integrated Navigation Algorithm for HOV

1.
Wuhan Second Ship Design and Research Institute, Wuhan 430205, China
2.
63788^th unit, The People’s Liberation Army of China, Weinan 714000, China
3.
National Deep Sea Center, Qingdao 266237, China
4.
School of Instrument Science & Engineering, Southeast University, Nanjing 210096, China

摘要

摘要: 针对近海底作业的深海载人潜水器(HOV), 提出了一种经济可行的组合导航算法。该算法利用HOV搭载的多普勒测速仪、捷联罗经构成航位推算(DR)系统, 结合超短基线(USBL)水声定位系统提供的位置信息设计了一个四维卡尔曼滤波器构成DR/USBL组合导航系统。考虑到USBL实测定位数据中包含大量野值和少量缺失值, 设计了一种利用DR辅助USBL的在线数据清洗方案, 该方案具有较强的鲁棒性, 能够为DR/USBL组合导航系统提供连续一致的量测数据。基于海试数据的半物理仿真结果表明, DR/USBL组合导航系统能够有效地融合2个系统的优点, 输出更平滑精度更高的位置信息, 定位误差不超过25 m。
- 载人潜水器 /
- 航位推算 /
- 超短基线 /
- 组合导航
Abstract: An economically feasible integrated navigation algorithm is designed for deep-sea human-occupied vehicles(HOV) operating near the seafloor. The algorithm utilizes the Doppler velocity log and a strapped-down compass carried by the HOV to form a dead reckoning(DR) system. A four-dimensional Kalman filter is designed to integrate DR with the position information provided by an ultra-short baseline(USBL) acoustic positioning system to constitute a DR/USBL integrated navigation system. Considering that the actual measurements of the USBL usually contain a large number of outliers with few missing values, an online data-cleaning scheme using DR is designed. This design is robust and can provide continuous and consistent measurements for DR/USBL. Finally, semi-physical simulation results based on sea trial data show that the DR/USBL integrated navigation system can effectively integrate the advantages of the two systems to provide smoother and more accurate positioning information; the positioning error is within 25 m.
- human-occupied vehicle /
- dead reckoning /
- ultra-short baseline /
- integrated navigation

HTML全文

图 1 USBL水声定位系统组成

Figure 1. Constitution of USBL acoustic positioning system

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图 2 USBL水声定位工作原理

Figure 2. Principle of USBL acoustic positioning system

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图 3 USBL实际测量结果与参考值对比

Figure 3. Comparison of USBL actual measurements and reference values

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图 4 DR/USBL组合导航系统框图

Figure 4. Block diagram of DR/USBL integrated navigation system

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图 5 滑动时间窗构建对比图

Figure 5. Comparison of slide-time window construction

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图 6 DR辅助USBL数据清洗流程图

Figure 6. Flow chart of DR aided USBL data cleaning algorithm

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图 7 不同导航系统定位结果对比

Figure 7. Comparison of positioning results of different navigation systems

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图 8 DR与DR/USBL的定位误差随时间变化曲线

Figure 8. Curves of Positioning error of DR and DR/USBL changing with time

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