基于UUV动力学模型的实时海流估计方法研究

提出了一种基于UUV模型的海流估计方法。结合UUV的动力学模型,根据实际系统状态与模型系统状态得到UUV航行环境的海流信息,避免了海流估计对开环操纵性试验的依赖。此外,针对模型与各个传感器间的时间、空间异步问题,采用了数据融合理论中常用的插值法进行时空配准。最后,通过多次UUV试验数据验证了该方法的有效性,并与用最小二乘法得到的海流信息作对比。结果表明,该方法具有较强的工程意义。

An In-Situ Ocean-Current Estimating Method Based on UUV Dynamic Model

In order to estimate the in-situ current disturbances of ocean environment,a model-aided estimating method which could get rid of open-loop maneuvering experiments is introcluced.Combining with UUV dynamic model,current information can be obtained from states of real system and model system.Concerning about the asynchronous datas from different sensors and the UUV model,interpolation method was applied.Finally,experimental data collected from different experiments was analysed with this method.Comparing with the analysing results from the least square method,practical signification of present method were validated.