为应对现有基于水声定位的组合导航方法中，信标应答信号接收不稳定，以及因声速误差导致的测距误差对导航性能的影响，提出一种紧组合导航方法。基于扩展卡尔曼滤波方法，以航速、航迹角定点运动学方程以及声速随机扰动为系统方程，使用时延作为观测量，根据接收到的随机数量的时延信息，自适应构建观测方程，以实现对信标应答信号各种接收情况的自适应处理。经过在青岛近海的实验验证，此方法数据利用率高，且具有更快的收敛速度和更高的定位精度。此外，它还能够有效地估计海水的平均声速，具备一定的实用性。
In response to the challenges present in existing combined navigation methods based on underwater acoustics, which involve unstable reception of beacon response signals and the impact of range measurement errors due to sound velocity inaccuracies on navigation performance, we propose an integrated navigation approach. Grounded in the Extended Kalman Filtering methodology and employing the fixed-point kinematic equations of watercraft velocity and heading, as well as random sound velocity disturbances as system equations, we utilize time delays as observational data. Adaptive construction of observation equations is achieved based on the received, randomly varying time delay information, enabling adaptive processing of beacon response signals under various reception scenarios. Through validation with experimental data obtained in the vicinity of Qingdao's coastal waters, this method exhibits high data utilization rates, faster convergence, and superior positioning accuracy. Furthermore, it demonstrates the capability to effectively estimate the average sound velocity of seawater, enhancing its practical utility.
2024,46(15): 135-139 收稿日期：2023-10-07
DOI：10.3404/j.issn.1672-7649.2024.15.024
分类号：TP24
作者简介：邵虎林（1998 – ），男，硕士，研究方向为水下导航定位
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