摘要
为解决航行器编队水下航行时的导航定位问题,针对主航行器设计了单体导航定位系统,对于编队中的从航行器,应用水声定位及通信传输模块进行绝对定位,以此完成整体编队导航定位,并给出了整体设计思想和软件流程.通过实验数据对导航精度进行分析,比较了简易DR算法和卡尔曼滤波算法,论证了方案的可行性、可靠性和导航的精确性.
When the underwater vehicles sail in formation, a signal navigation positioning design is adopted for the main underwater vehicle. For the dependent underwater vehicles the underwater acoustic orientation and communication module are applied so as to achieve the absolute positioning information, therefore, accomplishing the holistic navigational positioning. The holistic design project and software architecture are obtained as well. The system navigation precision is analyzed through the test data. By comparing the simple DR algorithm and the Kalman filter algorithm, the experiment proves the feasibility of the navigational positioning system project.
出处
《南通大学学报（自然科学版）》
CAS
2009年第2期17-20,共4页
Journal of Nantong University(Natural Science Edition)
关键词
水下航行器
导航定位
卡尔曼滤波
波束形成
underwater vehicle
navigation positioning
Kalman filter
beamforming
