基于非线性技术的AUV组合导航新方法

摘要

To satisfy the demand of low-cost, small and high performance of navigation system in AUV, an integrated navigation system based on MEMS-IMU/DVL is presented. Characteristics and the error model of the low-cost inertial navigation system are analyzed. The unscented Kalman filter (UKF) was applied to solve the nonlinearity problem of integrated navigation system. Simulation results show that, this novel method of MEMS-IMU/DVL integrated navigation for AUV based on Unscented Kalman filter (UKF) has high navigation accuracy and low system-cost, which has favorable engineering application value.%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MEMS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酱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MEMS-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.