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中文摘要：
针对无人潜航器（unmanned underwater vehicle,UUV）在多普勒计程仪（Doppler velocity log,DVL）的量测噪声以及安装角偏离误差影响下,自主航行时不能满足长时间导航定位的问题,一方面基于Mallat算法的小波分解和单层重构方法对DVL量测速度进行滤波;另一方面,利用UUV湖试数据对传感器的安装偏离误差进行了校正。针对UUV在高纬度、长时间航行特点,采用地球参考椭球体作为地球几何形状的数学描述。最后对提出的导航算法进行了算法验证及自主导航控制试验,结果表明UUV的自主导航定位精度均小于0.5%,满足设计要求,并优于改进前的航位推算算法。
英文摘要：
Under the influence of the installation angle deviation error and measurement noise error of DVL,UUV can not meet the time requirements of navigation and positioning when it undertakes underwater autonomous navigation.In this paper,a dead reckoning method for unmanned underwater vehicle is studied based on wavelet,which filters the measurement velocity of DVL in real-time.And the installation angle deviation error of DVL is corrected according to the data from lake experiment of UUV.Aiming at the characteristics that the vehicle may navigate at high latitude and for long time,the earth reference ellipsoid is adopted to descript the earth geometry.Finally,the proposed navigation method was tested in the navigation and control of an UUV in lake and sea experiments;and results indicate that the navigation positioning accuracy is less than 0.5%,which satisfies the design requirements.The experiments demonstrate that this dead reckoning method is better than the unimproved one.
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