【作者】 迟凤阳； 孙枫； 肖妍；

【Author】 CHI Feng-yang;SUN Feng;XIAO Yan;College of Automation,Harbin Engineering University;College of Underwater Acoustic engineering,Harbin Engineering University;

【机构】 哈尔滨工程大学自动化学院； 哈尔滨工程大学水声工程学院；

【摘要】 为了有效抑制惯性导航系统的定位误差,提高水下航行器的定位精度,提出了一种利用水声定位技术辅助惯导系统的组合导航方法。建立了组合导航系统的滤波模型,并针对粒子滤波(PF)在高维状态估计中面临的问题,提出了边缘自适应粒子滤波算法(RB-APF)。仿真结果表明,该算法有效的减小了组合导航系统的定位误差。更多还原

【Abstract】 In order to suppress the position errors of inertial navigation system and improve AUV positioning accuracy,a integrated navigation method assisted by acoustic positioning technology is proposed.The mathematical model of integrated navigation system is established.In view of the question that standard particle filter algorithm is difficult in high-dimensional state estimation,a algorithm of RB-APF is proposed.The simulation results show that the positioning error of integrated navigation system is effectively reduced.更多还原