光学精密工程2017，Vol.25Issue(9)：2508-2515,8.DOI:10.3788/OPE.20172509.2508
水下潜航器的惯导/超短基线/多普勒测速信息融合及容错验证
INS/USBL/DVL information fusion and fault-tolerant verification for underwater vehicles
摘要
Abstract
This paper focuses on the accumulated positioning errors and poorer fault tolerance of Inertial Navigation System (INS )in an underwater vehicle . The phase difference position of the underwater acoustic Ultra Short Base Line (USBL ) was analyzed and the solution process and coordinate transformation of INS /USBL navigation was deduced based on real time positioning and attitude error angle information obtained by the INS .Finally ,in combination of a INS / Doppler Velocity Log (INS/DVL ) filter , the applications of the INS/USBL/DVL integrated navigation federation filtering in three kinds of information fusion algorithms .The fusion algorithm was verified by MATLAB simulation .The results demonstrate that algorithm is able to inhibit filtering divergence of INS .It makes the best of the parameter information obtained from three navigation system ,and shows low state dimension and fast convergence speed .Among them ,the navigation system based on precision factor has minimum system error . The fault tolerance verifies that the INS/USBL/DVL integrated navigation system still can provide effective navigation parameters at a higher navigation speed when the UBSL was broken . It concludes that the proposed INS/USBL/DVL integrated navigation federation filtering algorithm is able to provide navigation parameter information with high fault tolerance and stability for underwater vehicles effectively .关键词
组合导航算法/惯性导航系统/超短基线定位系统/多普勒测速/联邦滤波Key words
integrated navigation algorithm/inertial navigation system/Ultra Short Base Line ( USBL ) system/Doppler Velocity Log (DVL )/federated filtering分类
交通工程引用本文复制引用
徐博,郝芮,王超,张勋,张娇..水下潜航器的惯导/超短基线/多普勒测速信息融合及容错验证[J].光学精密工程,2017,25(9):2508-2515,8.基金项目
黑龙江省自然科学基金资助项目(No.QC2014C069) （No.QC2014C069）
中央高校基本科研业务费专项基金资助项目(No.HEUCF041702) （No.HEUCF041702）
国家自然科学基金资助项目(No.61203225) （No.61203225）
黑龙江省博士后科研启动资金资助项目(No.LBH-Q15032) （No.LBH-Q15032）
海洋工程国家重点实验室开放课题资助项目(No.1616) （No.1616）
