舰船电子工程2025，Vol.45Issue(1)：48-51,57,5.DOI:10.3969/j.issn.1672-9730.2025.01.010
舰船编队并行式惯性基协同导航
Parallel Inertial-based Cooperative Navigation for Ship Formation
摘要
Abstract
In order to solve the positioning error divergence problem of inertial navigation reference with the same accuracy carried by each ship in the ship formation in the environment of denial of GNSS information,a collaborative network navigation and positioning method based on each ship's inertial navigation reference is proposed.Firstly,the principle of ship formation cooperative network navigation and positioning technology is proposed.The kinematic model and observation equation of parallel inertial-based cooperative navigation are constructed.A data fusion algorithm based on EKF is designed to correct the positioning error.A parallel cooperative navigation test platform is built by means of inertial reference,GNSS equipment and test vehicle.The experimental re-sults show that compared with the single ship inertial reference navigation accuracy,the maximum single ship positioning error of the proposed cooperative navigation method is reduced by 18.14%,and the overall positioning error of the ship formation is reduced by 9.53%.关键词
舰船编队/协同导航/并行式/信息融合Key words
ship formation/cooperative navigation/parallel mode/information fusion分类
交通运输引用本文复制引用
王苏,周红进,李倩,徐贵鹏,兰国辉..舰船编队并行式惯性基协同导航[J].舰船电子工程,2025,45(1):48-51,57,5.基金项目
黑龙江省自然科学基金项目(编号:YQ2021E011)资助. （编号:YQ2021E011）
