基于地形辅助的深海长航时ARV自主导航技术研究

项目名称： 基于地形辅助的深海长航时ARV自主导航技术研究

项目编号： No.61773116

项目类型： 面上项目

立项/批准年度： 2018

项目学科： 自动化技术、计算机技术

项目作者： 程向红

作者单位： 东南大学

项目金额： 16万元

中文摘要： SINS/TAN组合导航是深海ARV实现远程高精度自主导航的重要方式，松组合导航技术较为成熟，但精度有待提高。本项目拟开展基于地形辅助SINS的深海长航时紧组合方法研究，并搭建仿真平台进行验证。在用高斯过程回归准确建立低分辨率海图的基础上，具体研究基于高斯和粒子滤波器的SINS/TAN紧组合导航定位方式。利用ARV装备的压力传感器和测深仪获得水深数据，并直接作为滤波器的观测输入，将ARV位置、姿态与水深值紧密结合，使ARV紧组合导航实现高精度。本项目能有效提高ARV组合导航的定位精度和可靠性，为实现ARV长航时高精度自主导航提供解决方案和理论指导。

中文关键词： 惯性/地形组合导航；高斯和粒子滤波；交互式多模型；紧组合；熵值法

英文摘要： SINS/TAN integrated navigation is an important way for deep-sea ARV to achieve high-precision remote autonomous navigation. Although loose integrated navigation technology is mature at present, the precision requires to be improved, so the study on terrain-aided navigation technology is of great significance. This research proposal intends to study a deep-sea long-term tight integrated navigation system based on terrain-aided SINS and build a verification system. Based on the existing research, the proposed research project includes the study on navigation and positioning of SINS/TAN tight combination using Gaussian sum particle filter. The water depth data, which is used as the observation input of the filter, is obtained by using the pressure sensor and depth sounder. The position, attitude and water depth value are combined closely to make ARV terrain auxiliary navigation achieve high precision. With this research project, the positioning accuracy and reliability of ARV integrated navigation system will be effectively improved, and practical solutions and theoretical guidance for ARV high-precision long-endurance autonomous navigation

英文关键词： SINS/TAN integrated navigation;Gaussian sum particle filter;Interacting multiple model;Tight integrated navigation;Entropy method