在水下SINS/DVL综合定位和导航中研究纠错技术
Jian Li1,2, Mingyu Gu1, Tianlong Zhu1
1College of Internet of Things Engineering, Hohai University, Changzhou 213001, China.
Sensors (Basel, Switzerland)
|July 11, 2023
概括
精确的水下导航依赖于像Strapdown惯性导航系统 (SINS) 和多普勒速度日志 (DVL) 这样的集成系统. 本研究重点是纠正SINS/DVL系统中的DVL错误,以提高水下定位准确度.
科学领域:
- 海洋技术 海洋技术
- 机器人技术 机器人技术 机器人技术
- 导航系统 导航系统 导航系统
背景情况:
- 水下车辆需要精确的定位和导航来完成检查和操作任务.
- 集成导航系统,通常称为Strapdown惯性导航系统 (SINS) 和多普勒速度日志 (DVL),将多个设备结合起来,以提高准确性.
- 在SINS/DVL整合中的错误,包括安装偏斜和DVL测量不准确,降低了整体系统性能.
研究的目的:
- 在Strapdown惯性导航系统 (SINS) /DVL集成定位和导航系统中调查和解决多普勒速度日志 (DVL) 的错误纠正技术.
- 提高水下航行在关键任务中的准确性和可靠性.
主要方法:
- 专注于SINS/DVL集成定位和导航系统作为主要研究对象.
- 深入研究集成系统中的DVL组件的错误纠正技术.
- 分析常见的错误,如安装偏差和固有的DVL测量错误.
主要成果:
- 确定了DVL错误对SINS/DVL联合定位和导航的准确性的重大影响.
- 开发和研究了针对DVL而定制的错误纠正方法,用于集成水下导航.
- 证明了错误纠正对于实现可靠的水下操作的重要性.
结论:
- 纠错技术对于提高SINS/DVL集成系统的性能至关重要.
- 解决DVL特定错误对于准确的水下定位和导航至关重要.
- 这些发现有助于提高可靠的水下检查和操作能力.
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