基于可重置联邦滤波器的水下运载体导航定位方法

单一导航系统无法满足水下运载体高精度、高可靠性的导航需求,文中根据常用水下导航系统的特点,提出基于可重置联邦滤波器的水下运载体导航定位方案,设计了以惯导系统(INS)为主参考系统,声学定位系统/深度计、多普勒计程仪(DVL)、罗经为子参考系统的联邦滤波器,并进行了仿真研究。结果表明文中设计的滤波器能有效融合各个传感器的导航信息,实现水下运载体高精度导航定位,并具有一定容错性。

The Method of Navigation and Location for Underwater Vehicles Based on Rest Federated Kalman Filter

The single navigation system cannot meet the navigation demand of high accuracy and high reliability for underwater vehicles. According to the characteristic of common underwater navigation systems, a navigation and location scheme is presented based on rest Federated Kalman Filter for underwater vehicle. The filter is designed with the inertial navigation system (INS) as the main reference system, and with the acoustic positioning system/depth meter, Doppler velocity log (DVL) and compass as assistant reference systems. The simulation study is carried out and relevant results indicate that the filter designed in this paper can effectively fuse the navigation information of each sensor and realize the target of high-precision navigation and location with some fault tolerance for underwater vehicles.