摘要
针对水下自主潜器的特点,重点介绍一种采用捷联惯导系统与多普勒计程仪的组合导航技术。通过引入多普勒计程仪提供的绝对速度,提出了输出校正与反馈校正相结合的混合校正集中卡尔曼滤波方案,仿真结果证明该方案可有效提高系统导航精度。
This paper mainly introduces the application of SINS/DVL integrated navigation technology for AUV. Introducing absolute velocity obtained by DVL, a mixed revising method based on Kalman filtering is proposed, which combines revising output method with revising feedback method. The simulation results prove that this revising method can enhance navigation precision effectively.
出处
《中国航海》
CSCD
北大核心
2004年第2期55-59,共5页
Navigation of China
关键词
组合导航技术
船舶
捷联惯导系统
多普勒计程仪
混合校正
Ship, Navy vessel engineering
Integrated navigation
Study
Autonomous Underwater Vehicle (AUV)
Strapdowm Inertial Navigation System (SINS)
Doppler Velocity Log (DVL)
Mixed revising
