SINS (Strapdown Inertial Navigation System)-based method for restraining velocity measuring error of DVL (Doppler Velocity Log)

A Doppler log and strapdown inertial navigation technology, which is applied in the field of speed measurement error suppression of Doppler log, can solve problems such as poor flexibility, poor accuracy, and inability to meet real-time performance

Inactive Publication Date: 2013-05-08
HARBIN ENG UNIV
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However, his calibration is carried out in the laboratory environment, which belongs to pre-calibration, which cannot meet

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  • SINS (Strapdown Inertial Navigation System)-based method for restraining velocity measuring error of DVL (Doppler Velocity Log)
  • SINS (Strapdown Inertial Navigation System)-based method for restraining velocity measuring error of DVL (Doppler Velocity Log)
  • SINS (Strapdown Inertial Navigation System)-based method for restraining velocity measuring error of DVL (Doppler Velocity Log)

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[0045] The following examples describe the present invention in more detail.

[0046] The coordinate systems involved in the present invention include: p-mathematical platform coordinate system; b-carrier coordinate system. The transformation between two coordinate systems is represented by a direction cosine matrix.

[0047] 1. Start the ship, preheat the Doppler log and the ship's strapdown inertial navigation system, input the initial position information, and collect the output information of the gyroscope and accelerometer;

[0048] 2. Obtain the initial strapdown inertial navigation system strapdown matrix through the initial position information in step 1 and the information collected by the gyroscope and accelerometer

[0049] 3. Strapdown inertial navigation system and Doppler log enter the navigation work stage, and output information in real time;

[0050] 4. The Doppler speed log DVL outputs the Doppler velocity V at the kth moment in real timedvl (k);

[0051...

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Abstract

The invention provides an SINS (Strapdown Inertial Navigation System)-based method for restraining the speed measuring error of a DVL (Doppler Velocity Log). The method comprises the following steps of: starting the DVL and an SINS, comprehensively processing the output speeds of the DVL and the SINS, performing high pass digital filtering and outputting the optimized speed. By means of method provided by the invention, the high-frequency noise of the DVL can be filtered while the motion high-frequency information is not filtered; and speed and acceleration references are provided for initial alignment and navigation of other inertial systems.

Description

technical field [0001] The invention relates to a speed measurement error suppression method, in particular to a speed measurement error suppression method of a Doppler log. Background technique [0002] Doppler log is a commonly used marine log. It is a log made by using the Doppler effect of sound waves or ultrasonic waves in water. Because it can directly measure the speed of the ship to the ground, and it is stable and reliable, Therefore, it has been widely used in recent years. In the ship navigation system, the Doppler log (DVL) measurement speed is usually used as an auxiliary strapdown compass system, and the difference value (acceleration) of the DVL measurement speed and its measurement speed is provided to the strapdown compass system, which can eliminate the Effects of speed and acceleration on navigation with strapdown compass systems. However, the speed output by the Doppler log contains a large amount of high-frequency components of noise, which will affect...

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Application Information

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IPC IPC(8): G01C25/00
Inventor 奔粤阳谢松霖李倩高伟张义于飞鲍桂清徐文佳卢宝峰杨娇龙
Owner HARBIN ENG UNIV
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