基于声学的水下惯性导航系统校准技术研究
Research on calibration technology of underwater inertial navigation system based on acoustics
吴艳峰 1鲍敬源 2韩云峰 3李超4
作者信息
- 1. 海军装备部,北京 100071
- 2. 海装武汉局驻武汉地区第二军事代表室,湖北武汉 430064
- 3. 哈尔滨工程大学,黑龙江哈尔滨 150001
- 4. 中国船舶集团有限公司第710 研究所,湖北宜昌 443000
- 折叠
摘要
随着海洋开发的进程推展,自主式水下潜航器(AUV)的导航技术也在日益进步.随着技术的探索,发现惯性导航的声学导航结合的导航模式才是未来的主要导航方向.因此,提出一种基于声学的水下惯性导航系统(INS)校准方法,其定位精度由惯导精度、安装偏差和声学定位精度综合决定.结果显示,在水下平台采用高精度光纤惯导并精确测量安装偏差的条件下,此方法能够获取不大于100 m的定位精度,能够很好地为水下平台提供导航系统修正.
Abstract
With the development of ocean development,the navigation technology of autonomous underwater vehicle(AUV)is also improving.With the exploration of technology,it is found that the navigation mode combined with acoustic navigation of inertial navigation is the main navigation direction in the future.Therefore,a method of underwater inertial navigation system(INS)calibration based on acoustics is proposed.Its positioning accuracy is determined by inertial navigation accuracy,installation deviation and acoustic positioning accuracy.The results show that the positioning accuracy of less than 100 meters can be obtained by this method under the condition of using high-precision optical fiber inertial navigation and accurately measuring the installation deviation,which can provide a good navigation system correction for the underwater platform.
关键词
惯性导航系统/声学导航/声学校准Key words
inertial navigation system(INS)/acoustic navigation/acoustic calibration引用本文复制引用
出版年
2024
NETL
NSTL
万方数据