| 摘要: |
| SINS/USBL组合导航误差因素主要包括USBL测距精度误差、USBL测角误差、USBL到SINS的安装误差以及应答器的位置误差，且现有USBL设备的普遍特点为：测距精度高而测角精度相对较差。针对上述误差因素和特点，提出一种三应答器SINS/USBL紧耦合导航算法，避免了USBL测角误差以及USBL到SINS的安装角误差等对导航精度的影响，仿真结果表明能够较大程度上提高组合导航定位精度。此外，该算法无需对安装角进行标定，使用更加便捷。 |
| 关键词: 三应答器 捷联惯性导航 超短基线 紧耦合 |
| DOI： |
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| 基金项目: |
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| An Underwater Tightly Integrated Navigation Algorithm of Tri-responder SINS/USBL |
| ZHANG Ya-wen,MO Ming-gang,MA Xiao-yan,DENG Ji-quan |
| (Beijing Institute of Automatic Control Equipment) |
| Abstract: |
| The errors of SINS/USBL integrated navigation mainly include USBL range-measuring error, angle-measuring error, the fixation error and the position error of the responder. Besides, most USBL instruments have quite high precision in range-measuring and quite short precision in angle-measuring. For these errors and features, the paper designs an underwater tightly integrated navigation algorithm of tri-responder SINS/USBL, avoiding the angle-measuring error and the fixation error. The theory simulation proves the algorithm can improve the navigation precision. Besides, it can be more convenient because no angle-fixation calibration is needed. |
| Key words: Tri-responder Strap-down inertial navigation Ultra short base line Tight integration |
