舰船电子工程2023，Vol.43Issue(11)：179-183,5.DOI:10.3969/j.issn.1672-9730.2023.11.036
考虑声速误差的水声定位组合导航方法研究
Research on the Integrated Navigation Method Based on Acoustic Positioning with Acoustic Velocity Error
高大远 1蔡鹏 1陈新东1
作者信息
- 1. 海军潜艇学院航海观通系 青岛 266199
- 折叠
摘要
Abstract
The acoustic velocity error will influence the positioning accuracy for the navigation of underwater vehicle using single acoustic beacon.An integrated navigation method using time-delay of beacon signal and dead reckoning information is proposed.The Extended Kalman Filter is used for information fusion,in which the position of vehicle and the acoustic velocity are set as the process states and the time-delay of beacon signal is viewed as measurement of output.The method is studied with simulation for different vehicle tracks.The results indicate that the method can estimated the acoustic velocity practically used.At the same time,it also promotes the positioning accuracy of single beacon.关键词
声学定位/声速误差/扩展卡尔曼滤波/组合导航Key words
acoustic positioning/acoustic velocity error/Extended Kalman Filter/integrated navigation分类
通用工业技术引用本文复制引用
高大远,蔡鹏,陈新东..考虑声速误差的水声定位组合导航方法研究[J].舰船电子工程,2023,43(11):179-183,5.
