计算机工程与应用Issue(19)：7-10,26,5.DOI:10.3778/j.issn.1002-8331.1312-0345
UTP/DR组合导航算法研究
Research on UTP/DR integrated navigation system
摘要
Abstract
To solve the dead reckoning navigation algorithm error accumulated problems, the underwater transponder aux-iliary navigation calculates integrated navigation algorithm. Uses the current statistical model for traffic prediction model, a more accurate description of the vehicle movement state has been obtained. Using underwater transponder combined with navigation calculation algorithm, to air a reckon navigation error correction, in order to obtain a better filtering effect, the square root cubature Kalman filter has been introduced as the filtering algorithm of integrated navigation system, and compared with the EKF filtering algorithm. Simulation experiments show that the square root cubature Kalman filter has better filtering accuracy than the EKF filtering algorithm, and UTP/DR integrated navigation algorithm effectively avoids the navigation positioning error caused by the navigation error accumulated divergence problem, obtains the good effect of navigation and positioning.关键词
无人水下航行器(UUV)/导航/航位推算/水下应答器定位/容积卡尔曼Key words
Unmanned Underwater Vehicle(UUV)/navigation/Dead Reckoning(DR)/Underwater Transponder Posi-tioning(UTP)/cubature Kalman分类
信息技术与安全科学引用本文复制引用
严浙平,邓超,李本银,赵玉飞..UTP/DR组合导航算法研究[J].计算机工程与应用,2014,(19):7-10,26,5.基金项目
国家自然科学基金（No.51179038）；教育部新世纪优秀人才支持计划（No.NCET-10-0053）。 （）
