在水下实现高精度导航定位对于AUV的水下作业能力至关重要，针对水下复杂环境引起的噪声干扰问题，设计了一种基于自适应滤波的水下长基线导航定位方法。通过建立伪距辅助的长基线组合导航算法模型，解决AUV在运动过程中产生的水下时延误差；在组合导航算法基础上，进一步采用自适应滤波算法对系统进行信息融合，在线估计系统量测噪声，从而减小系统量测噪声在水下环境无法精确建模对定位精度的影响，在提高系统导航定位精度的同时改善系统的抗干扰性能。仿真结果表明，基于自适应滤波的水下长基线导航定位方法能够抑制水下噪声干扰，满足AUV水下长航时、高精度的定位要求。
Underwater navigation system with high accuracy positioning is fatal important for AUV's operation ability. For the sake of improving the positioning accuracy with the noise interference of the underwater environment, an underwater long baseline navigation strategy based on adaptive filtering algorithm is proposed. The proposed system establishes a pseudorange-assisted long baseline integrated navigation equation to reduce the acoustic delay error. In addition, the adaptive filtering is used to improve the positioning accuracy and the anti-jamming performance by estimate the system measurement noise on-line. Simulation results demonstrate that even in long-term operation, the proposed algorithm can ensure the high positioning accuracy and reliability.
2020,42(12): 106-110 收稿日期：2019-09-25
DOI：10.3404/j.issn.1672-7649.2020.12.021
分类号：TJ630.1
作者简介：成月(1992-),女,硕士,工程师,主要从事水下导航定位研究
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