单点迭代的LBL／SINS紧耦合快速校正方法研究

摘要

针对存在校正速度慢、航行器测距发声时间长的问题，提出了一种等间隔发声、单点迭代非等间隔滤波的 LBL／SINS综合校正方法，其本质在于缩小滤波间隔，并在 MATLAB平台下实现了综合仿真系统。仿真结果表明：该方案校正的快速性及对某些参数估计的精度优于常规方法。%The method of tightly coupled LBL/SINS system is an important means to deal with the is-sue of AUV′s SINS errors accumulation.The general calibration method has disadvantages in speed and concealment.A method of tightly coupled LBL/SINS based on iteration with single sample point is presented.The essence of the method lies in that the filter period is to be shortened.Finally,the simulation system of rapid calibration is implemented on MATLAB.The simulation results show that the speed of performance and some parameters′estimated precision are improved.