针对自主无人水下潜航器在执行任务时面临导航手段少、传统航位推算存在定位误差漂移、单一导航方式不足以满足执行水下精确任务的要求等问题, 提出了一种基于超短基线水声定位系统、全球卫星定位系统和磁罗盘等传感器组合导航的方法, 并对其中涉及的坐标转换进行了详细说明。利用卡尔曼滤波对潜航器的位置进行估计, 以获取控制和导航所需的位置信息及速度信息, 不存在定位漂移问题, 导航定位精度优于10 m, 满足自主无人潜航器在水下长时间执行任务的要求。该方法在自主无人水下潜航器上进行了试验验证。

When the Autonomous Underwater Vehicle(AUV)executes a task underwater, it faces several problems including few navigation means, positioning error drift of traditional dead reckoning, and that the unitary navigation method is not enough to meet the requirements for implementing precise underwater tasks.An integrated navigation method based on underwater Ultra-Short Base Line (USBL) acoustic positioning system, Global Positioning System (GPS) and Tilt compensation Compass Module (TCM) is proposed, and the coordinate transformation involved is described in detail. The Kalman filter is used to estimate the position of the AUV for obtaining the position and speed information needed for control and navigation.There is no positioning drift. and the navigation and positioning accuracy is better than 10 m, which can satisfy the requirement of AUV when executing underwater tasks for a long time. The method has been tested and verified on an unmanned AUV.