| AUV中SINS/DVL组合导航技术研究 |
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| 引用本文： | 曹洁,刘繁明,陈勤,高伟.AUV中SINS/DVL组合导航技术研究[J].中国航海,2004(2):55-59. |
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| 作者姓名： | 曹洁 刘繁明 陈勤 高伟 |
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| 作者单位： | 哈尔滨工程大学,黑龙江,哈尔滨,150001 |
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| 摘 要： | 针对水下自主潜器的特点，重点介绍一种采用捷联惯导系统与多普勒计程仪的组合导航技术。通过引入多普勒计程仪提供的绝对速度，提出了输出校正与反馈校正相结合的混合校正集中卡尔曼滤波方案，仿真结果证明该方案可有效提高系统导航精度。
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| 关 键 词： | 组合导航技术 船舶 捷联惯导系统 多普勒计程仪 混合校正 |
| 文章编号： | 1000-4653(2004)02-0055-05 |
| 修稿时间： | 2003年9月30日 |
SINS/DVL Integrated Navigation Technology in Autonomous Underwater Vehicle |
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| CAO Jie,LIU Fan-ming,CHEN Qin,GAO Wei.SINS/DVL Integrated Navigation Technology in Autonomous Underwater Vehicle[J].Navigation of China,2004(2):55-59. |
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| Authors: | CAO Jie LIU Fan-ming CHEN Qin GAO Wei |
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| Abstract: | This paper mainly introduces the application of SINS/DVL integrated navigation technology for AUV. Introducing absolute velocity obtained by DVL, a mixed revising method based on Kalman filtering is proposed, which combines revising output method with revising feedback method. The simulation results prove that this revising method can enhance navigation precision effectively. |
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| Keywords: | Ship Navy vessel engineering Integrated navigation Study Autonomous Underwater Vehicle (AUV) Strapdowm Inertial Navigation System (SINS) Doppler Velocity Log (DVL) Mixed revising |
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