A Review of Underwater SINS/DVL Integrated Navigation Technology
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摘要: 基于捷联惯性导航系统(SINS)与多普勒计程仪(DVL)相结合的组合导航技术近年来在自主水下航行器(AUV)导航上得到了广泛应用。文中简要介绍了水下SINS/DVL组合导航的基本原理、耦合方式和系统应用研究现状; 详细论述了数据融合处理技术、标定技术和DVL数据失效处理技术等3个关键技术及其研究现状; 最后, 探讨了水下SINS/DVL组合导航技术的发展趋势及其将要面临的技术问题。文中的研究可为水下高精度组合导航研究提供参考。
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关键词:
- 自主水下航行器 /
- 组合导航 /
- 捷联惯性导航系统/多普勒计程仪 /
- 卡尔曼滤波 /
- DVL数据失效
Abstract: In recent years, the integrated navigation technology based on strapdown inertial navigation system(SINS) and Doppler velocity log(DVL) has been widely applied to autonomous undersea vehicle(AUV) navigation. This paper introduces the basic principle, coupling pattern, and application researches of the underwater SINS/DVL integrated navigation system, discusses three key technologies in detail, including data fusion, calibration, and DVL data failure processing, and predicts the developing tendency of underwater SINS/DVL integrated navigation technology and some technical problems. The purpose of this paper is to provide a reference for the research of underwater high-precision integrated navigation. -
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