基于磁罗盘、DVL及GPS的组合导航系统设计

摘要

Because navigation system of underwater vehicle is expensive and the accuracy of underwater positioning is not high, this article designed a kind of low-cost integrated navigation system based on the magnetic compass, DVL and global satellite positioning system. Using piecewise linear interpolation compensation method and Compensation method of the speed of sound. The magnetic compass and DVL is calibrated and compensated, the accuracy of single navigation equipment is improved. Finally, according to the data fusion of Kalman filter, the accuracy of the entire navigation system is improved and the precise navigation of underwater vehicle is achieved.%针对水下潜器导航定位系统成本昂贵且水下定位精度不高的问题，设计了一种基于磁罗盘、多普勒测速仪(DVL)及全球卫星定位系统(GPS)的低成本组合导航系统。采用分段线性插值拟合补偿法及声速补偿法，对磁罗盘和多普勒测速仪进行校准及补偿，提高了单个导航设备的精度。最后通过卡尔曼滤波进行数据融合，提高了整个导航系统的精度，实现了水下潜器的精确导航。