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。

Research on INS/USBL Integrated Navigation Algorithm Based on the Inverted Acoustic Array

This paper aims to address the problems occurred during underwater vehicle navigation, for example, electromagnetic wave is unable to be used as decay underwater, INS has accumulated mass error, and the precision of positioning of underwater vehicles needs to be improved. Based on the inverted acoustic array of Ultra Short Base Line (USBL), this paper thoroughly studies the return transfer time (RTT) of acoustic wave and the approximate method of plane wave. It also derives the positioning method of the transponder with respect to USBL. Combined with the INS error equation, the mathematical model of INS/USBL is established for integrated navigation system. In order to improve the accuracy, dynamic performance and anti-interference performance of the system, the INS/USBL compact combination technique is studied based on the original slant-range of USBL, slant-range difference and the spatial distribution information of acoustic array. The navigation algorithm is verified by MATLAB simulation, and the results show that two kinds of INS/USBL integrated navigation algorithms are able to inhibit filtering divergence of INS to effectively estimate the error angle. Tight combination method is more obvious for reducing the effect of navigation errors. It has more than 30% improvement in relative navigation parameters to loose integrated navigation. Therefore, it is of great significance for the navigation and positioning of underwater vehicles as well as for marine detection.