基于水声传播时延补偿的惯导误差修正方法

摘要

针对潜器惯导定位误差修正问题，提出惯导/多信标水声测距组合导航实现方法，并主要针对由于潜器运动与水声传播时间延迟导致的误差进行分析，提出一种基于水声传播时延补偿的水下惯导定位误差修正方法，该方法利用扩展卡尔曼滤波，通过对惯导系统位置误差状态的前推，重构量测方程，实现量测方程与系统量测量时间的一致性，补偿时间延迟产生的误差。仿真结果表明，该方法可有效提高惯导/多信标水声测距组合导航系统对惯导定位误差修正的精度。%In allusion to positioning error correction for underwater vehicle INS(Inertial Navigation System), the INS/multi-becons acoustic range measurements integrating method is proposed. The error result from vehicle motion and acoustic propagation time is mainly analyzed, and a correcting positioning error algorithm based on acoustic propagation time compensation is presented. In this algorithm, the EKF(Extended Kalman Filters) is adopted, and the measurement equation is reconstructed via pushing-forward the INS’s position error states. As a result, the measurement equation and the system measurement become synchronous, and the error from time delay is eliminated. The simulation results indicate that the algorithm can significantly improve the accuracy of correcting INS positioning error with INS/multi-becons acoustic range measurements integrated navigation system.