摘要
分析了系泊在母船上的AUV捷联惯导(SINS)初始对准算法,建立了海浪干扰条件下AUV的姿态摇摆运动方程,对母船静止和母船晃动情况下AUV的SINS初始对准过程进行了仿真实验。仿真结果表明,在母船静止情况下失准角能很快收敛;在海浪干扰条件下失准角误差出现了周期性晃动,但晃动幅度较小,达到了AUV的SINS初始对准精度要求。
This paper discusses the SINS initial alignment algorithm for the AUV anchored in the mother-ship. The wave disturbance is simulated by using the three-axis rolling kinematics equation. The initial alignment simulation of AUV was implemented in the case of the static situation and the wave disturbance situation respectively. The result shows that misalignment augles are converged quickly when the mother-ship is stationary and although the misalignment angles sway the AUV＇s SINS can achieve the precision requirement after the whole initial alignment process was completed in the condition of wave disturbance.
出处
《价值工程》
2011年第33期294-295,共2页
Value Engineering
关键词
水下航行器
捷联惯导系统
初始对准
卡尔曼滤波
autonomous underwater vehicle （AUV）
strap-down inertial navigation system （SINS）
initial alignment
Kalman filtering
