由于海流、温度、海底地形等深海环境因素影响，同时存在潜航器自身推进器扰流、母船螺旋桨扰流等因素，超短基线（USBL）作为深海水下潜航器通信定位的系统存在通信延迟不一、异常值随机出现等问题。当潜航器与母船之间的水平夹角小于USBL自身的通信角，潜航器与母船无法实时通信，由此带来一定潜航器与船体的碰撞风险。针对上述问题及风险，提出基于改进的递归最小二乘法估计的潜航器水下轨迹预测方法，可有效降低测量扰动的影响，对航行轨迹进行预测。
Due to influences of ocean current, temperature and bottom territory, along with turbulent flow caused by thrusters of underwater vehicle and mothership, acoustic communication delay by ultra-short base line varies with time, and abnormal errors when locating underwater vehicle happen randomly. If angle between mothership and vehicle relative to horizontal line bigger than USBL communication angle, acoustic communication link cannot be established, which arouse risk of colliding of vehicle and mothership. To address these issues, an improved RLS algorithm is proposed to speculate trace of underwater vehicle, which effectively smoothes measuring error and shows a reasonable trace.
2023,45(16): 64-68 收稿日期：2022-9-8
DOI：10.3404/j.issn.1672-7649.2023.16.013
分类号：TN929.3
作者简介：刘顶峰(1984-),男,硕士,高级工程师,研究方向为水下无人装备
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