[1]唐会林.SINS/DVL/UTP/VP组合导航系统在UUV回收中的应用[J].应用科技,2016,(03):1-7.[doi:10.11991/yykj.201504022]
 TANG Huilin.Application of SINS/DVL/UTP/VP integrated navigation system to UUV underwater docking[J].yykj,2016,(03):1-7.[doi:10.11991/yykj.201504022]
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SINS/DVL/UTP/VP组合导航系统在UUV回收中的应用(/HTML)
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《应用科技》[ISSN:1009-671X/CN:23-1191/U]

卷:
期数:
2016年03期
页码:
1-7
栏目:
船舶与海洋工程
出版日期:
2016-06-05

文章信息/Info

Title:
Application of SINS/DVL/UTP/VP integrated navigation system to UUV underwater docking
作者:
唐会林
92213部队司令部, 广东 湛江 524064
Author(s):
TANG Huilin
92213 Army Headquarters, Zhanjiang 524064, China
关键词:
UUV捷联惯导航位推算水下应答器定位视觉定位数据融合
Keywords:
unmanned underwater vehiclestrapdown inertial navigation systemdead reckoningunderwater transponder positioningvision positioningdata fusion
分类号:
TP301.6;TP18
DOI:
10.11991/yykj.201504022
文献标志码:
A
摘要:
针对UUV回收过程中的导航定位问题,采用水下应答器和水下视觉定位辅助捷联惯导设备,通过航位推算,构成SINS/DVL/UTP/VP组合导航定位系统,以获得较高的定位精度。采用异步贯序块结构形式,解决各传感器采样不同步,频率不一致的问题。利用小波多尺度变换,将信号分解到不同尺度上分别进行加权滤波,再进行小波重构,充分利用各传感器的特点实现数据融合。仿真结果显示,水下应答器定位和水下视觉定位辅助捷联惯导和航位推算可有效提高UUV的定位精度,保证UUV安全回收。
Abstract:
Considering the navigation and positioning of UUV underwater docking, underwater transponder positioning and underwater vision positioning are applied to assist the strapdown inertial navigation system, and the dead reckoning system is used to build the SINS/DVL/UTP/VP integrated navigation system, to improve positioning precision. The asynchronous sequential block structure form is taken to solve asynchronous sampling and different sampling frequency problems, and the wavelet multi-scale transform is introduced to decompose the signal into different scales, then to filter them by weighted fusion filtering respectively, and then to reconstruct the wavelet with data fusion based on the peculiarity of different sensors. The simulation results show that the integrated navigation system and dead reckoning system can obtain good performance, and effectively improve the navigation and positioning accuracy, ensuring UUV underwater docking safely.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2015-04-21。
基金项目:国家自然科学基金项目(51409059).
作者简介:唐会林(1973-),男,工程师.
通讯作者:唐会林,E-mail:1374084805@qq.com.
更新日期/Last Update: 2016-06-08