Analysis of AUV Positioning Performance in Shallow Ocean Based on GPS／BDS Combination
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摘要: 针对水下机器人在浅海工作时定位误差大的问题,在浅海电磁波信号衰减不大的情况下,文中重点介绍一种基于GPS/BDS双模组合定位技术的浅海水下机器人高精度定位导航系统,为了比较双模定位系统的定位性能,设置了GPS和BDS单模定位系统作对比,提出了使用中值滤波算法和卡尔曼滤波算法相结合的定位数据处理方法,通过对双模定位系统测试数据的滤波处理,得出系统的定位性能。测试结果表明,双模定位系统的定位精度要高于单模定位系统;中值滤波和卡尔曼滤波相结合算法的应用能够明显提高双模定位系统的定位精度。Abstract: In order to solve the problem of large positioning errors when underwater robots work in shallow seas, this paper focuses on the high-precision positioning and navigation system for shallow seawater robots based on GPS／BDS dual-mode combined positioning technology under the condition of shallow sea electromagnetic wave signal attenuation characteristics. In order to compare the positioning performance of the dual-mode positioning system, the GPS and BDS single-mode positioning system is set up. The positioning data processing method using a median filtering algorithm and a Kalman filtering algorithm is proposed to test the dual-mode positioning system and we use filtering data to get the system's positioning performance. The test results show that: the positioning accuracy of the dual-mode positioning system is higher than that of the single-mode positioning system and the application of the median filter and the Kalman filtering algorithm can significantly improve the positioning accuracy of the dual-mode positioning system.
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Key words:
- Underwater robot /
- GPS／BDS /
- median filter /
- Kalman filter
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