论文部分内容阅读
针对小型AUV对低成本、微小型、高性能导航系统的需求,提出了一种基于M EM S技术的IMU/DVL组合导航新方法。分析了低成本惯性导航系统的特点和误差模型,为有效提高系统的导航精度引入多普勒测速仪与微机械惯性测量单元相组合,并采用无迹卡尔曼滤波(UKF)算法设计组合导航系统的滤波器。仿真结果表明,基于UKF滤波的M EM S-IMU/DVL组合导航新方法具有较高的导航精度,且有效降低了系统成本,具有广阔的工程应用前景。
Aiming at the demand of small AUV for low cost, small and high performance navigation system, a new IMU / DVL integrated navigation method based on MEMS technology is proposed. The characteristics and error model of low cost inertial navigation system were analyzed. Doppler velocimeter and micromechanical inertial measurement unit were combined to effectively improve the navigation accuracy. The integrated navigation system Filter. The simulation results show that the new hybrid navigation method based on UKF filtering has higher navigation accuracy and lower system cost, which has a broad prospect of engineering application.