水下航行器航向外测方法研究

摘要

针对大型水下航行器外航向测量的需要，提出了航向外测解算数学模型、误差分析模型以及基于短基线定位和长基线定位的2种水下航行器航向外测方法。通过仿真分析，2种航向测量方法都具有较高的精度，能达到1°的量级，比较而言，由于水下航行器被测2点的绝对定位精度决定了航向角测量精度，因此，基于短基线定位的航向测量精度高于基于长基线定位的航向测量精度，且容易实现。%For the requirement of external measuring of the course of underwater vehicles,a calculation mathematical model and an error analysis model are presented.Two methods are proposed for the external measuring of the course of underwater vehicles,which are based on super short baseline acoustic orientation technique and long baseline acoustic orientation technique respectively. Analysis and simulation show that both the methods can achieve a precision of 1° . As the absolute orientation accuracy of the two tested points determines the accuracy of course measurement,the super short baseline acoustic orientation technique provides a higher accuracy than the long baseline acoustic orientation technique,and its implementation is also easier.