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Integrated error calibrating method of SINS/DVL (strapdown inertial navigation system/doppler velocity sonar) combined navigation system

An error calibration and carrier technology, applied in the field of navigation, can solve problems such as poor stability, high requirements for speed measurement accuracy, and harsh implementation conditions

Inactive Publication Date: 2013-11-13
HARBIN ENG UNIV
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Problems solved by technology

[0003] At present, the method of least squares fitting or filtering estimation of the carrier speed information provided by high-precision GPS and the speed information output by DVL is commonly used to estimate the installation deviation angle. The scheme requires high speed measurement accuracy of GPS, and the implementation conditions are relatively harsh. , and the scheme is less stable due to the influence of measurement noise

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  • Integrated error calibrating method of SINS/DVL (strapdown inertial navigation system/doppler velocity sonar) combined navigation system
  • Integrated error calibrating method of SINS/DVL (strapdown inertial navigation system/doppler velocity sonar) combined navigation system
  • Integrated error calibrating method of SINS/DVL (strapdown inertial navigation system/doppler velocity sonar) combined navigation system

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Embodiment Construction

[0052] Embodiments of the invention are described in detail below, but the invention can be practiced in many different ways as defined and covered by the claims.

[0053] The coordinate systems involved in the present invention are: i—the instrument coordinate system of Doppler Log (DVL); b—the body coordinate system; n—the navigation coordinate system.

[0054] Set up Doppler log to measure velocity

[0055] r · d i ( t ) = v x v y Formula 1)

[0056] in, Indicates the speed measured by DVL at time t, the superscript i indicates that the coordinate system where the measurement is located is the i system, the subscript d indicates ...

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Abstract

The invention relates to an integrated error calibrating method of an SINS / DVL (strapdown inertial navigation system / doppler velocity sonar) combined navigation system. The integrated error calibrating method comprises the following steps: obtaining a first navigation distance component of a carrier relative to a DVL instrument coordinate system and a second navigation distance component of GPS (global position system) position information relative to a carrier system in real time; carrying out least square fit based on SVD (singular value decomposition) on the first navigation distance component and the second navigation distance component, so as to obtain an SINS / DVL integrated conversion matrix; judging whether the conversion matrix estimated in the step 2 meets the accuracy requirement, and if not, repeating the steps 1 and 2 until the fitting precision achieves the requirement of navigation. By adopting the on-line estimation method of the least-square installation deviation angle based on the SVD, provided by the invention, the installation deviation angle of the DVL / IMU (doppler velocity sonar / inertial measurement unit) is estimated by adopting a GPS track measurement and DVL sliding track fitting method; not only is the problem of poor conventional least square stability solved; meanwhile, the integrated error calibrating method is low in demand on the measurement accuracy of z GPS, easy in scheme implementation and strong in engineering practicability.

Description

technical field [0001] The invention relates to the field of navigation, in particular to an integrated error calibration method for a SINS / DVL combined navigation system. Background technique [0002] The positioning error of the inertial navigation system (INS) has the characteristics of accumulating over time. For ships and other vehicles that require long-term navigation, it is often supplemented with other navigation equipment for integrated navigation to improve the positioning accuracy of the navigation system. Doppler Log (DVL) has become an important auxiliary navigation device for INS because of its high speed measurement accuracy and no error accumulation over time. It has been widely used in the field of marine navigation, especially for radio signals that cannot be effectively transmitted. In the underwater environment, the INS / DVL integrated navigation system plays a pivotal role. According to the speed measurement principle of the Doppler log, the output spee...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
Inventor 高伟刘亚龙徐博池姗姗肖永平陈春王文佳郭宇田学林
Owner HARBIN ENG UNIV
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