| 基于快速卡尔曼滤波的SAS水下组合导航方法 |
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| 引用本文： | 李厚全,唐劲松,苑秉成.基于快速卡尔曼滤波的SAS水下组合导航方法[J].舰船科学技术,2010,32(2):40-43. |
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| 作者姓名： | 李厚全 唐劲松 苑秉成 |
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| 作者单位： | 1. 海军工程大学,湖北,武汉,430033;海军潜艇学院,山东,青岛,266071
2. 海军工程大学,湖北,武汉,430033 |
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| 基金项目： | 国家863计划项目(2007AA091101) |
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| 摘 要： | 合成孔径声呐(SAS)成像是基于匀速直线运动这一理想模型的,因此需要对其进行水下导航运动参数估计并确定出1条用于运动补偿的理想航迹。一般可以利用高精度的组合导航方法测量获得。文中研究了基于光纤陀螺惯导(Octans)和多普勒声速剖面仪(ADCP)等设备的SAS水下导航方法,建立组合导航系统的误差方程,并利用快速跟踪卡尔曼滤波技术进行了SAS的运动参数估计仿真。仿真结果表明,位置误差精度达到航程的0.24%,可作为SAS的水下导航方法。
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| 关 键 词： | 合成孔径声呐 组合导航 卡尔曼滤波 |
The research of the integrated navigation underwater on synthetic aperture sonar |
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| LI Hou-quan,TANG Jin-song,YUAN Bing-cheng.The research of the integrated navigation underwater on synthetic aperture sonar[J].Ship Science and Technology,2010,32(2):40-43. |
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| Authors: | LI Hou-quan TANG Jin-song YUAN Bing-cheng |
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| Institution: | 1.Naval University of Engineering;Wuhan 430033;China;2.Naval Submarine Academy;Qingdao 266071;China |
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| Abstract: | Synthetic aperture sonar imaging is based on the straight track model with constant velocity.The motion estimation is needed to ascertain the ideal track.It is usually be achieved by the integrated navigation with high precision.In this paper,the navigation equipments of SAS comprise Octans,ADCP and the quartz depth gauge.A kind of Kalman filter algorithm for fast tracking is provided.The simulation results indicate the method is satisfying and the accuracy is 0.24% of distance.The method can be used in the... |
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| Keywords: | synthetic aperture sonar integrated navigation Kalman filter |
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