鱼雷技术2012，Vol.20Issue(1)：38-41,4.
一种利用单信标修正AUV定位误差的方法
Correcting Localization Error with a Single Beacon for AUV
摘要
Abstract
The localization error of an AUV's integrated navigation positioning system, which is composed of strapdown inertial navigation system (SINS), Doppler velocity logger (DVL) and depth sensor, increases with time, and the hidden performance of the AUV will decrease in correcting the error via GPS. In this paper, a new method is proposed to correct the localization error of the AUV's navigation system by adopting a fixed beacon under water. In this method, the principle of acoustic ranging is used to measure the distance between AUV and beacon, then the real-time position of the AUV is calculated according to spacial geometric relationships, and the localization error of the AUV's navigation system is corrected by Kalman filter. Simulation results show that the present approach can correct AUV's localization error effectively, which infers an application value in engineering.关键词
自主水下航行器/组合导航定位系统/定位误差/单信标Key words
autonomous underwater vehicle(AUV)/ integrated navigation positioning system/ localization error/ single beacon分类
军事科技引用本文复制引用
张福斌,张永清..一种利用单信标修正AUV定位误差的方法[J].鱼雷技术,2012,20(1):38-41,4.基金项目
国家自然科学基金(61040055),西北工业大学基础研究基金(JC20100224). （61040055）
