UUV水下导航常采用捷联惯性导航系统（SINS）+多普勒流速剖面仪（ADCP）/长基线（LBL）等导航方法，进行船位推算或组合导航，较少考虑到UUV的导航隐蔽性要求。本文针对UUV在敏感海域或抵近侦察和侦测时的导航隐蔽性问题，提出一种根据航程切换的SINS+ ADCP/电磁计程仪（EML）+石英深度计组合导航系统的隐蔽导航方法，并基于容积卡尔曼滤波（CKF）算法进行仿真计算。仿真结果表明，该方法为解决UUV较长航程下的隐蔽性导航问题提供了一种有效手段。
The navigation method of UUV underwater is usually used with the integrated navigation and dead reckoning by SINS and ADCP and LBL et al. Keeping concealed is rarely consided. In the paper, a new method of concealed navigation is proposed with SINS , ADCP , EML and deep gauge, and the choice of device constitues is decided by the region nearby the enemy, when UUV is approaching the region. The simulation is carried with CKF,and the simulation results indicate that the method can achieved the long ranged navigation of UUV secretly.
2022,44(12): 83-87 收稿日期：2021-12-06
DOI：10.3404/j.issn.1672-7649.2022.12.016
分类号：U666; TJ63
基金项目：武器装备技术基础科研资助项目（XM2022XT2007）
作者简介：李厚全(1981-)，男，博士，研究方向为水中兵器、水声信号处理
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