AUV水下组合导航系统技术分析

Technology analysis of AUV underwaterintegrated navigation system

摘要:

基于SINS／DVL/GPS的组合导航是当前AUV的主流组合导航方式,本文介绍了水下组合导航系统的结构和组成,以及组合导航系统的关键技术,详细论述了初始对准算法、纯惯性解算算法、组合导航算法、DVL标定算法和校准算法。

Abstract:

SINS/DVL/GPS integrated navigation is the main integrated navigation mode of AUV at present, This paper introduces the structure and composition of underwater integrated navigation system, as well as the key technologies of integrated navigation system, and discusses in detail the initial alignment algorithm, Pure inertia solution algorithm, integrated navigation algorithm, DVL Calibration algorithm and Calibration algorithm