考虑洋流估计的水下高速航行器自主导航技术
Autonomous Navigation Technology of Underwater High-speed Vehicle Considering Ocean Current Estimation
李锋 1吉云飞 2张宇 2段金雷2
作者信息
- 1. 海军装备部,北京 100071
- 2. 北京航天时代光电科技有限公司,北京 100094
- 折叠
摘要
针对水下高速航行器快速启动、自主定位、高精度打击的应用要求,提出一种基于捷联惯导短时间高精度速度输出、考虑螺旋桨推进速度误差及洋流在线估计的水下高速航行器自主导航技术,较好地解决了水下高速航行器高精度自主导航隐蔽性、安全性难题.搭建了车载试验平台,并进行了仿真分析和试验验证,结果表明,螺旋桨刻度因子在线估计误差优于1×10-3、洋流速度误差估计优于 0.02 m/s,自主导航定位精度相较于传统航速组合方案提升了58%,有效保证了水下高速航行器的高精度自主导航性能.
Abstract
Aiming at the application requirements of fast start-up,autonomous positioning and high-precision attack for underwater high-speed vehicles,an autonomous navigation technology of high speed underwater vehicles based on short-time high-precision velocity output of strapdown inertial navigation is proposed,which considers the propeller velocity error and ocean current on-line estimation,and solves the problems of concealment and safety in high precision autonomous navi-gation of underwater high speed vehicle.An on-board simulation test platform is built,and simulation analysis and experi-mental verification are carried out.The results show that the online estimation error of propeller scale factor is better than 1×10-3,the estimation error of ocean current velocity is better than 0.02 m/s,and the positioning accuracy of autono-mous navigation is improved by 58%compared with the traditional speed integrated navigation,which effectively guarantees the high-precision autonomous navigation performance of the underwater high-speed vehicles.
关键词
螺旋桨/洋流/水下高速航行器/自主导航Key words
propeller/ocean currents/high-speed underwater vehicle/autonomous navigation引用本文复制引用
出版年
2024
NETL
NSTL
万方数据