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Method for determining speed measurement error of Doppler velocity log (DVL) in strapdown inertial navigation system

A technology of Doppler log and strapdown inertial navigation, applied in the field of navigation calculation of strapdown inertial navigation system, can solve the problems such as how to estimate the error of DVL speed measurement, etc., to achieve easy operation and improve speed measurement The effect of precision and simple method

Inactive Publication Date: 2013-05-01
HARBIN ENG UNIV
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Problems solved by technology

The above documents have analyzed the influence of DVL error, indicating that it is necessary to determine the DVL error, but the existing technology does not provide a method for estimating the DVL speed measurement error

Method used

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  • Method for determining speed measurement error of Doppler velocity log (DVL) in strapdown inertial navigation system
  • Method for determining speed measurement error of Doppler velocity log (DVL) in strapdown inertial navigation system
  • Method for determining speed measurement error of Doppler velocity log (DVL) in strapdown inertial navigation system

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Embodiment Construction

[0025] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0026] Such as figure 1 As shown, the method for determining the velocity measurement error of a Doppler log (DVL) in a strapdown inertial navigation system provided by the present invention specifically includes the following steps.

[0027] Step 1: Use the global positioning GPS system to provide the initial position information of the carrier, and bind it to the navigation computer. The position information refers to the latitude and longitude of the initial position of the carrier.

[0028] Step 2: After the fiber optic gyroscope strapdown inertial navigation system is warmed up, collect the data output by the fiber optic gyroscope and the quartz accelerometer; according to the relationship between the accelerometer output and the acceleration of gravity, and the relationship between the gyroscope output and the earth's rotation angular v...

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Abstract

The invention provides a method for determining speed measurement error of a Doppler velocity log (DVL) in a strapdown inertial navigation system. The method comprises the following steps: determining an initial position parameter of a carrier by a global positioning system (GPS), acquiring data output by an optical fiber gyro and an accelerator, performing initial alignment on data processing and determining an initial strapdown matrix; acquiring angular motion information and linear motion information of the carrier measured by an inertial component, and performing navigation calculation by a compass method and an inertial navigation method respectively, wherein carrier motion speed information measured by the DVL is introduced into the calculation by the compass method; performing subtraction on two groups of gesture information calculated by the two methods and performing transformation to obtain an azimuth misalignment angle value of the two group of calculated gestures; and performing conversion on the azimuth misalignment angle value to obtain the speed measurement error of the DVL. By the method, the speed measurement error of the DVL can be estimated in the navigation process of the carrier, and the speed measurement precision of the DVL is improved after the result can be compensated to the DVL. The method is simple and easy to operate.

Description

technical field [0001] The invention relates to the technical field of navigation solution of a strapdown inertial navigation system, in particular to a method for determining a speed measurement error of a Doppler log (DVL) based on a double solution program of a strapdown inertial navigation system. Background technique [0002] The strapdown inertial navigation system SINS is a fully autonomous navigation system that can continuously output carrier speed, position and attitude information. It directly connects the inertial components (gyroscope and accelerometer) Velocity and angular velocity information, the navigation information is obtained after the navigation solution. Because of its good concealment, not limited by weather and climate conditions, small size, light weight, low cost, easy maintenance and other advantages, it is widely used in aviation, aerospace, navigation and other fields. However, according to the basic principle of SINS, the oscillation and diver...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
Inventor 孙枫王秋滢齐昭高伟高峰
Owner HARBIN ENG UNIV
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