基于INS/DVL/GPS的UUV组合导航技术分析

Technology Analysis of UUV Integrated Navigation Based on INS/DVL/GPS

摘要:

水下组合导航是 UUV 完成长航时水下自主航行和任务的技术保障和基础，而基于 INS/DVL/GPS 的组合导航是当前 UUV 的主流组合导航方式，可解决导航误差随时间积累的难题，满足 UUV 长航时水下航行的要求。介绍了水下组合导航系统的结构和组成以及关键技术，并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。

关键词:UUV;组合导航;纯惯性;DVL 标定;初始对准;校准

Abstract:

Underwater integrated navigation is the technical guarantee and foundation for the UUV to complete long endurance underwater autonomous navigation and tasks. The integrated navigation based on INS/DVL/GPS is the current mainstream integrated navigation method for the UUV，which can solve the problem of navigation error accumulation over time and meet the requirements of UUV long endurance underwater navigation. This paper introduces the structure and composition of underwater integrated navigation system，as well as the key technologies. Besides，the initial alignment algorithm，pure inertia solution algorithm，integrated navigation algorithm，DVL calibration algorithm and calibration algorithm have been discussed in detail.

Key words:UUV;integrated navigation;pure inertia;DVL calibration;initial alignment;calibration