基于水下地形匹配的捷联系统误差估计方法

潜器进入匹配区时捷联系统已积累了一定的误差,有效利用匹配信息对误差进行修正是保证后续航行精度的基础;通过建立水下地形匹配辅助导航系统误差模型,以地形匹配模块和深度压力传感器测量的位置信息和深度作为量测量,设计了卡尔曼滤波器。仿真研究证明:所设计的滤波器具有良好的估计精度;同时,通过设计潜器航行动作证明了相关误差量的估计效果与潜器运动激励有关,为匹配区内进行误差估计时潜器所采用的运动状态提供了参考。

SINS error estimation based on underwater terrain matching

As SINS has accumulated some errors when UUV enters into the matching region,it is necessary to make good use of the matching information to correct the error.Based on the system error model established,a Kalman filter was designed which used the information form,namely the matching module and the depth pressure sensor as measurement.The simulation results indicate that the filter has favourable estimation precision.And by designing the UUV track,a conclusion was drawn that estimation precision of some error is relative to the movement of UUV,which provides reference for the movement state of UUV in matching region.