摘要
首次安装后,捷联惯性导航系统(SINS)和多普勒计程仪(DVL)之间的安装误差的标定对于提高水下组合导航精度十分重要。论文分析了标定试验中因GNSS测量值波动、侧向流影响、惯导对准失准角等因素对标定参数造成的影响,系统地提出了AUV组合导航系统的标定方法和试验流程。之后,通过跑船实航的方式对该标定方法进行了有效性验证。该标定方法简单实用,对组合导航精度的提升效果显著。
After the first installation,the calibration of the installation error between strap-down inertial navigation system(SINS)and Doppler log(DVL)is very important to improve the accuracy of underwater integrated navigation.This paper analyzes the influence of the fluctuations of GNSS measurements,lateral flow and alignment error angle on the calibration parameters in the calibration test,and the calibration method and test flow of AUV integrated navigation system are systematically proposed.After that,the validity of the calibration method is verified by sailing.This calibration method is simple and practical,and its effect of im⁃proving the accuracy of integrated navigation is remarkable.
作者
白龙
张淏酥
吴爽
邢安安
BAI Long;ZHANG Haosu;WU Shuang;XING An'an(The 710 Research Institute of China State Shipbuilding Corporation,Yichang 443003;School of Marine Engineering and Technology,Sun Yat-sen University,Guangzhou 510275;Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai),Zhuhai 519000)
出处
《舰船电子工程》
2021年第11期46-53,共8页
Ship Electronic Engineering
关键词
组合导航
惯性导航
多普勒计程仪
标定
安装误差
integrated navigation system
inertial navigation
doppler velocity log
calibration
installation error
作者简介
白龙,男,硕士,工程师,研究方向:水中兵器,水下组合导航。;张淏酥,男,博士,副教授,研究方向:AUV水下组合导航及协同导航技术。;吴爽,男,硕士,工程师,研究方向:水中兵器,电子通信与工程。;邢安安,男,硕士,工程师,研究方向:水中兵器、水声工程。
