无人潜航器DVL测速组合定位校正阻尼抑制方法

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Title:

Inhibition of oscillation using Doppler external velocity damping in navigation of unmanned submarine

作者:

李明

中国人民解放军海军驻锦州地区军事代表室, 辽宁 锦州 121000

Author(s):

LI Ming

Navy Military Representative Office in Jinzhou, Jinzhou 121000, China

关键词:

无人潜航器; 惯性导航系统; 振荡; 多普勒效应; 阻尼; 速度测量; 差分

Keywords:

unmanned submarine; inertial navigation systems; oscillation; Doppler effect; damping; velocity measurement; difference

分类号:

TP18;U666

DOI:

10.11992/tis.201612039

摘要:

为了抑制无人潜航器工作过程中舒勒振荡对导航精度的影响，本文提出了一种无人潜航器DVL测速组合定位校正阻尼抑制方法。无人潜航器由于其特殊的工作需求，经常需要在水下停留或航行较长时间。由于其隐蔽性能的需要，不能够经常浮出水面通过GPS进行位置校准。舒勒振荡在无人潜航器短时间航行时并不会产生较大影响，而当无人潜航器长时间航向时，就会对系统产生不可忽略的误差。为了解决这个问题，本文提出了外速度阻尼网络。并且为了得到更精确的外速度信息，引入外速度加权融合算法。通过与无阻尼系统对比的仿真实验验证了外速度阻尼网络在无人潜航器导航中可以有效抑制长时航行时舒勒振荡对系统的影响。

Abstract:

In this paper, a method of oscillation inhibiting by using Doppler external velocity damping in unmanned submarine navigation is proposed in order to inhibit the effect of Schuler oscillation on the navigation accuracy of unmanned submarines. Unmanned Submarines often need to stay or navigate underwater for a long period of time because of their special working requirements, and cannot surface often in order to calibrate their position through GPS, due to the need of operating while hidden. When an unmanned submarine is used for a short period of time, the Schuler oscillation will not have a significant influence. However, when it navigates for a long time, the error produced by Schuler oscillation cannot be ignored. In order to solve this problem, this paper proposes an external velocity damping network. A weighted fusion algorithm for external velocity is proposed in order to obtain more accurate information on velocity. The results obtained by the comparison to a non-damping system through simulation experiments verified that the external velocity damping network could effectively inhibit the effect of Schuler oscillation on the system, when an unmanned submarine navigated for a long period of time.