基于SINS/GPS/DVL组合导航定位

摘要

In order to fit the desire of long time and long distance voyage, the AUV use SINS as the main method for navigation and DVL as assistant, and correct the parameters regularly to improve the precision and the security. This paper descript an Integrated navigation semi-physical simulation system based on SINS/GPS/DVL which is compose of IMU, GPS simulator, GPS receiver, DVL simulator, ADI/ RTS workstation and water pressure simulator. The result shows that the system is viable and can be used in the advanced AUV Integrated navigation simulation experiment.%为了满足水下航行远航程和长时间的要求,远航程自主水下航行器(AUV)采用以SINS导航为主、DVL导航为辅、卫星导航定期修正的方式来提高导航的精度和可靠性;文中研究了一种采用惯性测量器件(IMU)、GPS卫星定位导航模拟器、GPS接收机、多普勒测速仪仿真装置、ADI/RTS仿真工作站和水压模拟器构成的采用SINS/GPS/DVL组合导航方式的AUV导航半实物仿真系统,并进行了全航程仿真实验;仿真试验的结果表明,所设计的半实物仿真系统方案可行,可用于更高置信度的AUV组合导航仿真实验.