摘要
当无人水下航行器(UUV)协同导航水声通信在短时失效情况下协同导航不可用时,由于从UUV配备的三轴地磁传感器与两轴微机电(MEMS)陀螺仪组合姿态传感器中的MEMS陀螺仪陀螺漂移较大,导致从UUV航位推算精度较差。基于此,文中提出一种UUV协同导航下MEMS陀螺仪协同标定方法,通过可观测性分析,提出从UUV协同标定的路径设计原则。在协同标定路径下,在线解算两轴MEMS陀螺仪的陀螺漂移并补偿,以提高从UUV自身航位推算精度。仿真结果证明了在UUV协同导航下MEMS陀螺仪协同标定方法的有效性及协同标定路径设计原则的准确性。
When the short-term failure of the underwater acoustic communication of an unmanned undersea vehicle (UUV) disables cooperative navigation, the three-axis geomagnetic sensor and the two-axis micro-electro mechanical system(MEMS) gyroscope’s combined attitude sensor equipped to slave UUV gain large gyro drift of the MEMS gyro- scope, which leads to poor accuracy of slave UUV dead reckoning. Therefore, a collaborative calibration method of MEMS gyroscope under UUV cooperative navigation is proposed in this study. Through the observability analysis, the path design principle of slave UUV collaborative calibration is proposed. The gyro drift of the two-axis MEMS gyro- scope is solved online and compensated from the slave UUV navigation system to improve slave UUV dead reckoning accuracy under the collaborative calibration path. Simulation results demonstrate the effectiveness of collaborative cali- bration of MEMS gyroscope and the accuracy of collaborative calibration path design principle under UUV cooperative navigation.
作者
王秋滢
尹娟
WANG Qiu-ying;YIN Juan(College of Information and Communication Engineering,Harbin Engineering University,Harbin 150001,China)
出处
《水下无人系统学报》
北大核心
2019年第3期305-312,共8页
Journal of Unmanned Undersea Systems
关键词
无人水下航行器
微机电陀螺仪
协同导航
协同标定
可观测性分析
unmanned undersea vehicle(UUV)
micro-electro mechanical system(MEMS) gyroscope
cooperative navigation
collaborative calibration
observability analysis
