联邦滤波器的SINS/GNS/DVS水下组合导航

针对现有的水下导航系统不能全面满足AUV导航的需要,为了提高水下航行器组合导航系统长时间远航程的隐蔽性,可靠性及精度,提出了一种基于联邦滤波器的惯性导航系统、地磁导航、多普勒速度声纳的组合导航方案,并采用简化自适应卡尔曼算法对水下航行器组合导航系统进行误差估计,解决了传统卡尔曼滤波容易发散的问题.仿真结果表明,在SINS/GNS/DVS组合导航中采用该算法,提高了定位精度,保证了滤波的快速性,验证了该算法的可行性和正确性.

Research on SINS/DNS/DVS Underwater Integrated Navigation based on Federal Filter

Considering of the fact that the existing underwater navigation system can not completely s the needs of the AUV navigation. In order to enhance the long range and deep water ability, reliability and accuracy of the underwater vehicle navigation system, in this paper, we propose a filter algorithm based on the Federation of inertial navigation system consisting of Doppler speed sonar, magnetic navigation method. Meanwhile, a simplified method is adopted for adaptive Kalman Underwater Vehicle navigation system error estimates to solve the divergence problem of traditional Kalman filter. The simulation results show that the proposed mehod can imporve the positioning accuracy. Moreover, the the speediness of the filter is guaranteed. In addition, the simulation results also demonstrate the effectiveness and correctness of the algorithm.