北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (12): 2211-2216.doi: 10.13700/j.bh.1001-5965.2014.0785

• 论文 • 上一篇    下一篇

水下运载体航位推算系统初始位置确定方法

张延顺1, 郭雅静1, 黄小娟1, 李春雨1, 汪湛清2   

  1. 1. 北京航空航天大学 仪器科学与光电工程学院, 北京 100191;
    2. 北京理工大学 自动化学院, 北京 100081
  • 收稿日期:2014-12-15 修回日期:2015-03-27 出版日期:2015-12-20 发布日期:2016-01-04
  • 通讯作者: 张延顺(1973-),男,黑龙江肇东人,副教授,zhangyanshun@buaa.edu.cn,主要研究方向为组合导航、惯性稳定跟踪等. E-mail:zhangyanshun@buaa.edu.cn
  • 基金资助:
    国家自然科学基金(61473019,61273033,11202010)

Method for determining initial position of dead reckoning system of underwater vehicle

ZHANG Yanshun1, GUO Yajing1, HUANG Xiaojuan1, LI Chunyu1, WANG Zhanqing2   

  1. 1. School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. School of Automation, Beijing Institute of Technology, Beijing 100081, China
  • Received:2014-12-15 Revised:2015-03-27 Online:2015-12-20 Published:2016-01-04

摘要: 为了提高航位推算(DR)系统的初始位置精度,根据水下导航传感器的特点,提出了初始定位时间内基于DR轨迹平移策略的初始位置确定方法,该方法综合了DR和水声定位系统的特点,通过平移DR轨迹,得到了在确定运动趋势约束下的最优轨迹,并依据轨迹求出初始位置.针对某次海试数据,其结果表明:应用本文方法确定的初始位置误差分别为应用平均值法和最小二乘拟合方法的60.2%和77.2%,应用此方法可减小DR误差,并能提高DR/水声组合定位系统的稳定性.

关键词: 航位推算(DR), 初始位置, 水声定位, 轨迹平移, 最优轨迹

Abstract: According to the characteristics of underwater navigation sensors, the method for determining the initial position based on dead reckoning (DR) trajectory translation strategy in the initial period of position was proposed to improve the accuracy of the initial position of DR system. This method combined the features of DR system and hydroacoustic navigation system, and got the optimal trajectory under the constraints of certain movement trends by translating DR trajectory to calculate the initial position. One real sea trial data was used to analyze this method. The results show that the position error of this method is 60.2% and 77.2% of the error of the average method and the least squares fitting method. The application of this method can reduce the position error of DR system and improve the stability of DR/hydroacoustic integrated navigation system.

Key words: dead reckoning (DR), initial position, hydroacoustic navigation, trajectory translation, optimal trajectory

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