基于GPS的水下导航算法误差仿真研究

首先介绍了水下导航算法,采用GPS和水下参量测算相结合的方案,即当运行器在水下运行时,利用电子罗盘测量运行器的相对航向,水流传感器测算运行器的相对速度大小,利用学习阶段计算出海水流速,在水下运行器潜行时进行船位推算导航,用GPS精准的定位信号进行导航误差的校正。此算法精度的高低很大程度上取决于用来进行水下参量测算的传感器和用来方位校准的GPS。文中从各个传感器的误差着手,通过模拟仿真详细分析了电子罗盘、水流传感器和GPS的误差对导航精度的影响,对工程应用具有实际的指导意义。

The Simulation Research of the Underwater Navigation Algorithm Error Based on GPS

The paper presents the underwater navigation algorithm that adopts the project of combining GPS with the underwater parameter measurement.When the autonomous underwater vehicle(AUV) works,the electronic compass measures the course of the AUV,the current sensor measures the speed of the AUV,it calculates the current speed in the study phase,then it makes use of the dead reckoning navigation algorithm to offer the navigation and position information.The navigation information of the AUV will be calibrated through GPS to ensure the accurate course.The precision of the algorithm lies on the precision of the sensors in a great measure.The error of the electronic compass,the current sensor and GPS influences the navigation algorithm precision is detailedly analyzed by the computer simulation in the paper.It has the directive significance for the engineering application.