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1. 北京航空航天大学 仪器科学与光电工程学院, 北京 100191;
2. 北京理工大学 自动化学院, 北京 100081

Method for determining initial position of dead reckoning system of underwater vehicle
ZHANG Yanshun1 , GUO Yajing1, HUANG Xiaojuan1, LI Chunyu1, WANG Zhanqing2
1. School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
2. School of Automation, Beijing Institute of Technology, Beijing 100081, China
Abstract: According to the characteristics of underwater navigation sensors, the method for determining the initial position based on dead reckoning (DR) trajectory translation strategy in the initial period of position was proposed to improve the accuracy of the initial position of DR system. This method combined the features of DR system and hydroacoustic navigation system, and got the optimal trajectory under the constraints of certain movement trends by translating DR trajectory to calculate the initial position. One real sea trial data was used to analyze this method. The results show that the position error of this method is 60.2% and 77.2% of the error of the average method and the least squares fitting method. The application of this method can reduce the position error of DR system and improve the stability of DR/hydroacoustic integrated navigation system.
Key words: dead reckoning (DR)     initial position     hydroacoustic navigation     trajectory translation     optimal trajectory
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1 DR系统初始位置确定方法

 图 1 初始定位时间内水声定位系统输出位置数据 Fig. 1 Output location data of hydroacoustic system in initial positioning time

1.1 准静态情况的平均值法定位

1.2 最小二乘拟合方法

1.3 轨迹平移法

 图 2 轨迹平移法原理 Fig. 2 Principle of trajectory translation method

 图 3 轨迹平移法算法流程图 Fig. 3 Flow diagram of trajectory translation method
2 实验研究 2.1 实验条件

2.2 初始位置确定方法实验

 图 4 USBL原始位置数据 Fig. 4 Raw position data of USBL

 图 5 初始位置确定与全部数据的数据参考基准 Fig. 5 Determination of initial position and data reference of all data

 图 6 不同方法对应的初始运动轨迹 Fig. 6 Initial trajectory corresponding with different methods

 图 7 不同方法确定运行轨迹误差 Fig. 7 Error of initial trajectory corresponding with different methods

3 结 论

1) 本文提出的运动过程中水下运载体DR系统初始位置确定方法,利用水声定位系统提供的位置信息和DR得到的方向信息计算得到优化的初始位置,该方法确定的初始位置误差最小,分别是平均值法和最小二乘拟合方法的60.2%和77.2%.

2) 利用本文方法进行初始位置的确定,提高了初始时段DR定位方法的准确程度.

3) 提高DR的基础上,也提高了组合导航的性能,有助于水下地形测绘、勘探等系统提高成图质量.

#### 文章信息

ZHANG Yanshun, GUO Yajing, HUANG Xiaojuan, LI Chunyu, WANG Zhanqing

Method for determining initial position of dead reckoning system of underwater vehicle

Journal of Beijing University of Aeronautics and Astronsutics, 2015, 41(12): 2211-2216.
http://dx.doi.org/10.13700/j.bh.1001-5965.2014.0785