机电工程技术2025，Vol.54Issue(10)：13-16,4.DOI:10.3969/j.issn.1009-9492.2024.000142
改进无迹卡尔曼滤波的水下组合导航算法研究
Research on Underwater Integrated Navigation Algorithm with Improved Untraced Kalman Filter
摘要
Abstract
Strapdown inertial navigation and Doppler tachometer integrated navigation system is one of the main ways to achieve high precision navigation and positioning of autonomous underwater vehicles,but the traditional velocity error equation of inertial navigation system is easy to be affected by the precision of specific force and attitude solution,resulting in error covariance jitter and filter divergence.To solve these problems,the velocity error model is improved on the basis of unscented Kalman filter(UKF),an error model is proposed based on gravity correlation term,and the system error state equation and measurement equation of SINS/Doppler Log(DVL)integrated navigation are re-established.The results show that compared with the UKF algorithm,the mean error and root mean square error of the position accuracy of the improved algorithm are decreased by 32.11%and 33.7%respectively,which can better cope with the complex underwater environment and effectively restrain the error divergence problem,further verifying the effectiveness of the improved algorithm.关键词
惯性导航系统/多普勒计程仪/水下组合导航/无迹卡尔曼滤波Key words
strapdown inertial navigation system/Doppler log/underwater integrated navigation/untraced Kalman filter分类
交通运输引用本文复制引用
白虎林,许至尊,肖鹏飞,刘洺辛..改进无迹卡尔曼滤波的水下组合导航算法研究[J].机电工程技术,2025,54(10):13-16,4.基金项目
广东省普通高校重点领域专项(2021ZDZX1060) （2021ZDZX1060）
