The Integrated Navigation Underwater Used in SAS Motion Compensation

摘要：

Synthetic aperture sonar imaging is based on the straight track model with constant velocity. The motion estimation needs to be done for ascertaining the ideal track. It is usually be achieved by the integrated navigation with high precision. In this paper, the navigation equipments of SAS comprise SINS and ADCP. For the large attitude error, the nonlinear error models of SINS/ADCP based on quaternion error are presented. The simulation has been done about the SUKF algorithm used in the nonlinear error models and the SKF algorithm in the liner error models. The results indicate that the SUKF algorithm with the nonlinear models is preferable to the SKF algorithm with the linear error method. The navigation accuracy has been improved to some extent.

关键词： synthetic aperture sonar integrated navigation SUKF kalman filter

作者: Houquan Li Jinsong Tang Bingcheng Yuan

作者单位: Department of Weaponry Engineering Naval University of Engineering Wuhan, China

会议类型: 国际会议

会议名称: 2009 Second International Conference on Intelligent Computation Technology and Automation(2009 第二届IEEE智能计算与自动化国际会议 ICICTA 2009)

会议地点: 长沙

会议语种:英文

页码: 2739-2742

在线出版日期: 2009-10-10（万方平台首次上网日期，不代表论文的发表时间）