AUV自主导航航位推算算法的分析研究

地球形状的不规则性,各种导航传感器本身的误差,以及仪器的安装偏差等,使得AUV(自治水下机器人)在进行远距离自主航行时,自主导航的精度大大下降。针对以上问题及实际工程需要,论文对AUV自主导航的航位推算算法做了进一步研究并加以改进,以提高其自主导航精度。最后,利用2004年中国科学院沈阳自动化所水下机器人研究中心进行AUV湖试所获得的数据,对文中提出的算法进行了验证。结果表明,AUV的自主导航精度得到大大提高,可以用于修正原来的自主导航算法。

When AUV voyages over a long period of time,its navigation precision will be negatively affected by some factors,such as the irregular shape of the earth,the errors of the navigation sensors,and the install deviation of some sensors,such as the gyroscope compass and the Doppler velocity log.Here,the dead reckoning method of autonomous navigation is studied to better the autonomous navigation system according to the problems above.The test result proved that the navigation precision is improved evidently,and can be applied to revise the original method for AUV's autonomous navigation.