多关节深海航行器组合导航算法

为解决多关节水下航行器定位问题，本文提出了基于捷联惯导+航位推算的组合导航算法。该方法利用捷联惯导系统测量航行器的位置，采用航位推算的方法得到航行器在下一时刻的位置，然后将测得的信息采用Kalman滤波处理，得到高精度的位置信息。通过Matlab/SIMULINK平台对比其他两种单一导航系统的性能，仿真结果表明，采用捷联惯导+航位推算算法时，位置误差可控制在5 m以内，满足多关节水下航行器的定位需求。

Integrated navigation algorithm of multi-joint deep-sea vehicle

To solve the positioning problem of a multi-joint underwater vehicle, a integrated navigation algorithm based on strapdown inertial navigation+dead reckoning is proposed in this paper. The method measures the position of vehicle by the strapdown inertial navigation, and gets the position of the vehicle at the next moment by the dead reckoning, and the measured information is processed by Kalman filter to get the high accuracy position information. The performance of other two single navigations systems are studied comparatively on MATLAB/SIMULINK platform. The simulation results show that the position error can be controlled within 5 m when using the integrated navigation algorithm, which can meet the positioning requirements of the multi-joint underwater vehicle.