导航的准确程度是无人潜艇执行任务的前提条件.由于长时间航行的无人潜艇,特别是有隐蔽性需求的无人潜艇,其导航中存在的舒勒振荡的问题,会导致无人潜艇导航定位系统的存在定位误差.为得到精确的导航结果,必须对振荡误差加以抑制.然而,传统单一的抑制方法中由于辅助信息存在应用范围的限制,不能满足全航程无人潜艇对于导航精度的需求.因而本文提出了模型切换抑制振荡误差的方法.针对不同辅助信息适用的范围,采用不同的抑制方式,提出了差分外测速度阻尼、相移抑制、GPS辅助相切换的振荡误差抑制方法,克服了传统方法的局限与不足.3种方法在各自的适用范围内都能达到需要的精度,在长航程的无人潜艇航行过程中达到了抑制振荡误差的目的.仿真实验说明了这种方法的有效性.模型切换抑制振荡误差的方法,可以提高无人潜艇的导航精度.%Precise navigation is the basis for task completion in unmanned submarines.Oscillation error exists in unmanned submarines with long voyage missions, in particular, with the missions serving military purposes, which leads to navigation error.For obtaining accurate navigation results, the oscillation error must be suppressed.However, owing to the restrictions in the traditional single algorithm, the accuracy requirements cannot be met in the entire process of navigation.Therefore, in this study, a model switching method to suppress the oscillation error in unmanned submarine navigations is proposed.Different oscillation-error-suppression methods were used for different application scopes.Differential Doppler external velocity damping assisting, phase shift inhibition assisting, and GPS assisting were presented in the model switching method that overcame the limitations of the traditional methods.This method can suppress the oscillation error during sailing and thus meet the accuracy requirement essential during unmanned submarine navigation.Simulation results show the effectiveness of this method.The model switching method is found to effectively improve navigation accuracy.
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