针对水下航行器利用移动单信标进行同步式测距定位时受初始位置误差和声速误差影响的问题，给出一种基于移动矢径的单信标同步式测距定位算法。参考移动矢径的概念建立了移动单信标测距定位模型，利用扩展卡尔曼滤波算法实现了定位滤波算法的设计。仿真和试验结果表明：本文算法可以有效减小初始位置误差带来的定位误差，并对未知声速误差进行实时估计，显著提高了水下航行器的定位精度。
Aiming at the underwater vehicle using single channel standard synchronous ranging positioning is influenced by the initial position error and velocity error, given a moving radius of synchronous location algorithm based on Dan Xinbiao. The concept of reference radius of a single mobile beacon location model, using the extended Calman filter algorithm to achieve the design positioning algorithm. The simulation and experimental results show that the algorithm can effectively reduce the location error caused by the initial position error, and estimate the unknown sound speed error in real time, which significantly improves the positioning accuracy of the underwater vehicle.
2019,41(2): 119-123 收稿日期：2018-03-16
DOI：10.3404/j.issn.1672-7649.2019.02.024
分类号：TB568
作者简介：朱子尧(1992-),男,博士研究生,主要从事水声通信导航一体化技术研究
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