基于罗经/DVL/水声定位系统的水下组合导航方法研究

针对基于罗经/DVL航位推算系统位置误差积累的问题,研究基于罗经/DVL/水声定位系统的水下运载体组合导航定位方法,设计了组合导航方案,建立了基于航位推算系统的误差方程,在此基础上引入水声定位系统的位置量测信息,设计了卡尔曼滤波器,实现了罗经/DVL/水声定位系统的信息融合。最后对研究的方法进行了计算机仿真和半物理仿真实验。实验结果表明,该方法抑制了航位推算系统位置误差发散,且减小了水声定位数据波动幅度,实现了水下运载体的高精度导航定位。     

多传感器组合导航系统研究

为了满足水下航行器高精度导航定位的需求,建立了多传感器组合导航的系统模型。针对信息融合过程中出现的非线性环节,在传统联邦滤波器的基础上,提出了基于粒子滤波的混合联邦滤波器。其中,线性子系统采用卡尔曼滤波算法进行滤波估计,非线性子系统采用粒子滤波算法进行滤波估计。计算机仿真分析表明,该混合联邦滤波算法能够将线性和非线性子系统的滤波结果很好地融合起来,提高了组合导航系统的定位精度。     

无缆水下机器人组合导航系统

无缆水下机器人是我国首次开展的高技术课题,组合导航系统是无缆水下机器人研究中的关键部分,本文介绍了多种导航设备同时工作,经过信息综合处理获得高精度导航信息的组合导航系统和组合导航系统中所需要的坐标转换及卡尔曼滤波器的计算,为无缆水下机器人建立一个较理想的导航方式。     

基于卫星的水下载体实时水声定位模型

为适应水下载体高精度实时导航定位的需求,提出了基于卫星导航定位的浮标水声定位系统定位模式,主要讨论了长基线固定浮标定位系统和超短基线单体智能浮标系统的工作原理和点位计算模型,分析了水声定位系统定位的准确度和误差源,对促进全球海域实现全天候高精度完全水下自主定位具有一定的指导意义。     

基于航位推算/水声定位系统的水下拖体组合导航方法

针对航位推算系统位置误差发散、水声定位系统输出信息波动大的特点,利用基于航位推算/水声定位系统的组合导航方法进行深拖系统导航定位。先利用多普勒速度仪和罗经的输出数据进行航位推算得到拖体位置,然后将此位置与水声定位系统输出的位置进行数据融合,得到连续、平滑的高精度深拖系统导航数据,实现水下拖体的高精度定位。应用此方法对海试实验数据进行了处理,实验结果表明:采用组合方法后,既限制了位置误差的发散,又减小了数据波动幅度,可以得到平滑的高精度位置。     

基于卡尔曼滤波的INS／USBL水下导航系统模型研究

简述惯性导航技术(INS)和超短基线定位技术(USBL),并分析了各自的优缺点.为了满足深海作业对导航定位高精度、高数据更新率的技术需求,提出基于卡尔曼滤波技术(Kalman Filter)实现INS和USBL的融合集成,研究了系统模型,进行了水下定位试验,给出了误差分析结果,证明了模型的可靠性.     

水下便携式可应答同步编码声源系统研究

本文针对当前及未来多型水下航行体的通用化水下高精度定位跟踪及综合测控要求,开展小型便携式水下声源系统研究,解决了不同水下航行体定位跟踪及水声遥测与遥控的综合测控集成化问题,以及小型水下航行体的通用化声源安装适配性等难题。采用集成化一体式综合设计方案,功能上兼顾水声定位跟踪、水声遥测遥控等功能,性能上其短基线水声定位精度可达R×5‰(R为斜距),远程水声遥测遥控误码率为10~(-5)。本文在系统总体方案中平衡了小尺寸与高性能之间的传统矛盾,大幅缩减声源尺寸和重量,并完成了小型水下滑翔机湖上试验。试验结果证明,该声源系统在比国外类似产品更小尺寸和重量的基础上,同时具备水声定位跟踪和水声遥测遥控等综合测控功能,可为多型水下航行体湖海试验提供高精度实时定位测量及远程应急遥控手段,具有较高的实用价值和良好的市场应用前景。     

水下运载体定位理论模型及拖曳参数分析

通过分析连接水下运载体和信号浮标的缆绳的水下形态,提出一种将浮标的位置向水下延伸进行定位的方法。本方法比声学GPS定位系统更具经济性。并对拖曳系统某些参数进行了分析,得出了有益的结论。     

GNSS多系统组合精密定位研究进展

近年来,我国北斗卫星导航系统(BDS)以及欧洲伽利略卫星导航系统(GALILEO)正在快速建设与发展,同时,GPS和GLONASS卫星导航系统的现代化也在逐步推进,卫星导航定位领域正发生着深刻的变革。系统介绍了各卫星导航系统的建设和发展状况,探讨了多系统组合定位带来的机遇和面临的挑战,以及当前对这些问题的研究现状,最后对多系统组合定位的应用前景进行展望。     

基于卡尔曼滤波的水下滑翔机组合导航研究

水下滑翔机定位与导航精度的提高对于其完成水下作业任务至关重要。水下滑翔机传统的定位方法是依托于GPS信息的航位推算,定位精度较低,不能满足按既定路径航行的导航要求。为此,本文提出了一种利用卡尔曼滤波的组合导航方法,该方法在传统航位推算技术的基础上采用卡尔曼滤波器融合惯性导航系统数据和深度计数据,得出深度的卡尔曼最佳估计值,以此代替传统航位推算技术中的深度计直接测量值,从而提高航位推算精度。基于该方法,进行了仿真分析,并通过样机水池实验验证了该方法的有效性。     

Velocity-Aided Underwater Navigation System Using Receding Horizon Kalman Filter

This paper discusses the problems related to constructing a receding horizon filter for underwater inertial navigation systems which are subject to external disturbances. Noises are assumed to be bounded, additive, and contained in both state and measurement equations. An estimator is designed according to the sliding-window strategy to minimize the receding horizon estimation cost function. The derived filter is applied to a velocity-aided inertial navigation system. Simulations show that the derived filter is more accurate than the standard Kalman filter (KF) for underwater navigation systems subject to temporary unknown disturbances     

Simulation of an Inertial Acoustic Navigation System With Range Aiding for an Autonomous Underwater Vehicle

This paper presents an integrated navigation system for underwater vehicles to improve the performance of a conventional inertial acoustic navigation system by introducing range measurement. The integrated navigation system is based on a strapdown inertial navigation system (SDINS) accompanying range sensor, Doppler velocity log (DVL), magnetic compass, and depth sensor. Two measurement models of the range sensor are derived and augmented to the inertial acoustic navigation system, respectively. A multirate extended Kalman filter (EKF) is adopted to propagate the error covariance with the inertial sensors, where the filter updates the measurement errors and the error covariance and corrects the system states when the external measurements are available. This paper demonstrates the improvement on the robustness and convergence of the integrated navigation system with range aiding (RA). This paper used experimental data obtained from a rotating arm test with a fish model to simulate the navigational performance. Strong points of the navigation system are the elimination of initial position errors and the robustness on the dropout of acoustic signals. The convergence speed and conditions of the initial error removal are examined with Monte Carlo simulation. In addition, numerical simulations are conducted with the six-degrees-of-freedom (6-DOF) equations of motion of an autonomous underwater vehicle (AUV) in a boustrophedon survey mode to illustrate the effectiveness of the integrated navigation system.     

一种基于超短基线定位的便携式AUV回坞导航方法

自主水下机器人(AUV)对接技术是目前水下机器人的研究热点,精确可靠的AUV的回坞导航是实现对接的关键技术。对于追求轻便的便携式AUV的对接系统,考虑到便携式AUV的搭载能力有限又需要足够的定位精度用于对接,提出了一种基于超短基线(USBL)定位的回坞导航方法,该方法让AUV只需装载电子罗盘和水声应答器就能完成精确的回坞定位。根据导航方法的特点,设计了一种改进的扩展卡尔曼滤波算法,其优点是能在处理滞后的USBL数据的同时动态估算海流、更新状态方程以消除海流造成的定位误差。通过湖试和大量仿真实验,验证了定位算法在海流影响下的定位性能。     

基于倒置声学基阵的INSUSBL组合导航算法研究

文中关注水下潜航器导航定位时,电磁波传播途径中能量衰减、惯导系统长航时积累误差以及提高水下潜航器定位精度等问题。基于倒置的超短基线声学基阵,分析声波往返传播时间(RTT)、平面波近似方法和USBL导航解算方法及其坐标转换过程,结合INS误差方程,建立INS/USBL松组合模型。为进一步提高系统精度、动态性能和抗干扰性,考察USBL的原始斜距、斜距差以及声学基阵的空间分布信息,提出基于USBL原始输出信息的INS/USBL紧耦合组合导航方法。通过MATLAB仿真对导航算法进行验证,结果表明两种算法能充分抑制纯惯导误差随时间积累问题,且有效地估计出姿态、速度和位置误差角;其中紧耦合方法状态估计误差最小,导航参数精度相对松组合提高30%以上,对于提高水下载体导航定位精度、海洋探测具有重大意义。     

A study of increasing the precision of navigation position for submerged body

Currently, most submerged bodies use the long-baseline acoustic position system (LBL) to identify the navigation position for submerging. A precise navigation position is always the target pursued by underwater technology. The conventional long-baseline acoustic position systems normally use Kalman filter correction to handle the problem of positional errors. This article proposes a new modification, which is based on the periodically measured actual navigation distance, and associated with the three-dimensional geometrical relations between the transponder on the seabed and the navigation distance. This new modification employs the iterative approximation to modify the errors of the measured navigation position from the conventional long-baseline acoustic position system. In order to verify the availability of the modified model by the essay, the study uses the navigation position for an underwater surveying submerged body as the study object. After the numerical simulation analysis, the result shows that the modification was presented by the article can only use very few iterations to precisely modify the errors of the measured navigation position from the conventional long-baseline acoustic position system, which is highly applicable for positioning in long-term and long-distance submersion. Moreover, the modification method proposed by the paper can also help submersion positioning for the underwater vehicle, as well as the military submerged body.     

重力辅助匹配惯性导航系统研究

常规的航位推算方法无法满足水下潜器长时间工作的导航要求,惯导设备的定位误差随时间积累,重力异常数据和重力梯度数据进行匹配辅助导航可以连续的对惯性导航系统积累误差进行校正。 文章介绍了利用重力辅助惯导的思想和原理,对重力辅助惯性导航进行了讨论,建立包含重力异常/ 重力梯度数据的 Kalman 滤波算法,并采用改进的 ICCP 算法对重力异常匹配导航进行了模拟试算,结果表明在现有的技术条件下,重力辅助匹配导航能够胜任水下航行的工作任务,保证长航时的水下定位精度。     

Underwater Terrain Positioning Method Based on Least Squares Estimation for AUV

To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrainmatching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation(LSE) is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning.     

Underwater Terrain Positioning Method Based on Least Squares Estimation for AUV

To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrain-matching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation (LSE) is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning.     

用于水下潜器的惯性导航系统安装和初始对准技术

水下潜器通常采用捷联惯性导航和多普勒计程仪组合导航系统。为提高惯性导航系统的导航精度,保障水下潜器顺利作业,文章以高性能惯导系统PHINS为例,介绍其安装和初始对准技术。PHINS在安装时须计算其与船体的偏差以及与船体和外部传感器的力臂,尤其与多普勒计程仪组合时应执行传感器自动对准程序;PHINS的初始对准是其精确导航的前提,可在海上或静态时进行;惯导系统的安装误差和初始对准精度对于其导航精度具有决定性的影响。     

Mine avoidance techniques for underwater vehicles

It is shown that by implementing certain mine avoidance techniques, an underwater vehicle equipped with an obstacle avoidance sonar (OAS) and a navigation system can safely navigate an unknown minefield. The mine avoidance techniques take into account the physical limitations of the sonar and the navigation system, the maneuverability constraints on the underwater vehicle, and the required safe standoff distance from all mines. Extensive computer simulations have verified the mine avoidance capability in more than 50 different minefields. In all 50 simulations the vehicle reached a predetermined end point and maintained at least the specified, minimum safe standoff distance from each mine. The simulation accurately models the major difficulties associated with the sonar, the navigation system, and the vehicle dynamics. The sonar model includes surface, bottom, and volume reverberation; thermal, ambient, and flow noises; actual receiver and projector beam patterns; and false alarms and missed detections. The navigation system model contains the effects of biases, random noises, and scale factor errors. The vehicle dynamic model simulates angular velocities and accelerations associated with underwater vehicles