针对声源式长基线(LBL)定位系统中信标测距信息不同步接收而引发的动态定位误差问题,提出了一种基于等效虚拟长基线(EVLBL)定位模型的组合导航算法.首先,建立并分析了在自主水下航行器(AUV)运动状态下的声源式LBL系统定位误差模型.然后,在此基础上设计了EVLBL模型,利用各信标定位信号接收时间间隔内 AUV 的航位推算增量,对信标位置进行等效平移进而构造虚拟信标阵.最后,设计了一种基于罗经、多普勒测速仪、深度计以及虚拟信标阵的组合导航算法.仿真结果表明,相较于传统LBL算法,所提组合导航算法在东向和北向的定位误差分别由 1.41 m和1.39 m降低至 0.13 m和 0.14 m.
Integrated underwater navigation algorithm based on the equivalent virtual long-baseline positioning model
To address the dynamic positioning error caused by asynchronous reception of beacon ranging information in the acoustic source long baseline(LBL)positioning system,an integrated underwater navigation algorithm based on equivalent virtual long baseline(EVLBL)positioning model is proposed.Firstly,the positioning error model for the acoustic source LBL system under the motion state of autonomous underwater vehicle(AUV)is established and analyzed.Then,the EVLBL model is designed on this basis,and dead reckoning increments from the AUV during the signal reception intervals are used to perform an equivalent translation of the beacons,thereby creating a virtual beacon array.Finally,an integrated navigation algorithm incorporating compass,Doppler velocity log,depth sensor,and the virtual beacon array is designed.Simulation results show that compared to the traditional LBL algorithm,the proposed integrated navigation algorithm reduces the positioning errors in the east and north directions from 1.41 m and 1.39 m to 0.13 m and 0.14 m,respectively.
万方数据
维普
