摘要
转速计因其价格低廉,且能够测得自主式水下航行器(AUV)在高速航行过程中相对周围海水的轴向速度,从而成为捷联惯导系统(SINS)在行进对准过程中的辅助设备。基于此,文中提出一种SINS与转速计组合的方法。利用转速计的量测数据对惯性传感器采集的信息加以修正,并利用逆向解算的思想,对系统获取的数据信息进行正逆向交替处理。通过增加对准阶段采样数据的处理次数,进而提高系统的对准精度和性能。仿真结果表明,在捷联惯导与转速计组合方式下,既可实现快速对准,同时可以满足对准精度的需要。该方法在AUV编队队形、多航行器的协同任务与地形勘探以及海图绘制中具有重要的参考价值。
Tachometer is cheap, and it can measure autonomous underwater vehicled relative axial velocity to surrounding water during high speed navigation, so it becomes an auxiliary device for alignment of strap-down inertial navigation system（SINS）. In this paper, a method for integrating SINS and tachometer is proposed. The data from tachometer are used to correct the information collected by inertial sensors, and the information obtained from the system is processed forward and backward alternately according to the idea of reverse solution. By increasing processing times of sampled data during the period of alignment, the aligmnent accuracy and performance of the system can be enhanced. Simulation result shows that the SINS-tachometer integration can realize rapid alignment and satisfy the requirement for alignment accuracy. The proposed method may be applied to an AUV formation, coordinative mission of multiple vehicles, topographic survey and seabed chart drawing, etc.
出处
《鱼雷技术》
2016年第6期450-457,共8页
Torpedo Technology
关键词
自主式水下航行器
捷联惯导系统
转速计
逆向导航
组合对准
autonomous underwater vehicle（AUV）
strap-down inertial navigation system（SINS）
tachometer
reverse nav-igation
integration alignment
