长航时UUV导航校正与性能评估方法
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摘要
为了提高长航时UUV的导航精度,规范其导航性能评价标准,文中提出一种长航时UUV导航校正与性能评估方法。首先概述了UUV的常用导航方法,给出长航时UUV导航试验需求。进而提出长航时UUV导航校正与性能评估方法的具体实现流程,阐述了其性能评价指标,并针对该方法提出相关建议。最后利用水下声学应答器(UTP)作为辅助导航设备,对UUV导航结果进行校正。仿真结果表明,所提方法能够有效抑制长航时UUV导航的累积误差。该方法可为提高长航时UUV导航精度提供理论参考。
To improve navigation accuracy of long-endurance unmanned undersea vehicle(UUV) and to standardize the navigation performance evaluation specifications, a navigation calibration and performance evaluation method of longendurance UUV is proposed. Firstly, the common navigation methods of UUV are summarized, and navigation test requirements of long-endurance UUV are provided. Then the process of the navigation calibration and performance evaluation is put forward, the performance evaluation specifications are given, and some suggestions for the method are offered. Finally, the underwater transponder positioning(UTP) is used as an auxiliary navigation equipment to correct the UUV navigation results. Simulation results show that the proposed method can effectively suppress the cumulative error of long-endurance UUV navigation. This method may provide a reference for improving the accuracy of long-endurance UUV navigation.
To improve navigation accuracy of long-endurance unmanned undersea vehicle(UUV) and to standardize the navigation performance evaluation specifications, a navigation calibration and performance evaluation method of longendurance UUV is proposed. Firstly, the common navigation methods of UUV are summarized, and navigation test requirements of long-endurance UUV are provided. Then the process of the navigation calibration and performance evaluation is put forward, the performance evaluation specifications are given, and some suggestions for the method are offered. Finally, the underwater transponder positioning(UTP) is used as an auxiliary navigation equipment to correct the UUV navigation results. Simulation results show that the proposed method can effectively suppress the cumulative error of long-endurance UUV navigation. This method may provide a reference for improving the accuracy of long-endurance UUV navigation.
引文
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[13]邓超.UTP辅助UUV导航误差校准方法研究[D].哈尔滨:哈尔滨工程大学,2015:17-96.
[2]严浙平,周佳加.水下无人航行器控制技术[M].北京:国防工业出版社,2015:4-15.
[3]Jacobi M.Autonomous Inspection of Underwater Structures[J].Robotics and Autonomous Systems,2015,67:80-86.
[4]Wynn R B,Huvenne V A I,Le Bas T P,et al.Autonomous Underwater Vehicles(AUVs):Their Past,Present and Future Contributions to the Advancement of Marine Geoscience[J].Marine geology,2014,352:451-468.
[5]于浩淼.非线性因素约束下欠驱动UUV轨迹跟踪[D].哈尔滨:哈尔滨工程大学,2016.
[6]Rice H,Kelmenson S,Mendelsohn L.Geophysical Navigation Technologies and Applications[C]//IEEE PLANS2004 Position Location and Navigation Symposium.Monterey,CA,USA:IEEE,2004:618-624.
[7]Marani G,Choi S K,Yuh J.Underwater Autonomous Manipulation for Intervention Missions AUVs[J].Ocean engineering,2009,36(1):15-23.
[8]James C.Kinsey,Louis L.Whitcomb.Preliminary Field Experience with the DVLNAV Integrated Navigation System for Oceanographic Submarines[J].Control engineering practice,2004,12(12):1541-1549.
[9]黄德鸣,程禄.惯性导航系统[M].北京:国防工业出版社,1986:62-98.
[10]Stutters L,Liu H,Tiltman C,et al.Navigation Technologies for Autonomous Underwater Vehicles[J].IEEETransactions on Systems Man and Cybernetics Part C(Applications and Reviews),2008,38(4):581-589.
[11]Nicosevici T,Garcia R,Carreras M.A Review of Sensor Fusion Techniques for Underwater Vehicle Navigation[C]//Proc.of oceans’04 MTS/IEEE Techno-ocean‘04conference.Girona,Spain:IEEE,2004:1600-1605.
[12]朱家海.惯性导航[M].北京:国防工业出版社,2008:2-3.
[13]邓超.UTP辅助UUV导航误差校准方法研究[D].哈尔滨:哈尔滨工程大学,2015:17-96.