基于未知声速的水下三维单信标定位模型

现有水下单信标定位通常考虑航行器在二维运动状态下建立动力学模型,但实际上航行器在三维状态下运动.针对其三维运动的特点,将水深作为新的状态变量,基于原有5个状态变量,提出一种新型水下单信标定位模型,并建立相应的过程噪声模型.使用仿真数据,对比新型水下单信标定位模型与传统模型,利用卡尔曼滤波输出评估2种模型的定位精度.仿真...

Underwater Three-Dimensional Single Beacon Location Model Based on Unknown Sound Velocity

The existing underwater single beacon location usually considers the underwater vehicle to establish the dynamics model in the two-dimensional motion state,but the underwater vehicle moves in the three-dimensional state actually.In terms of the characteristics of its three-dimensional motion,the water depth is taken as the new state variable,a new underwater single beacon location model is proposed based on the original five state variables,and the corresponding process noise model is established.The new underwater single beacon location model is compared with the traditional model with the simulation data,and the location precision to evaluate the two models is outputted with the Kalman filtering.The simulation shows that the new underwater single beacon location model can improve the underwater location precision of the underwater vehicle.