Filtering method for gyroscopic drift under collaborative navigation condition of multiple unmanned surface vehicles

Abstract

The invention discloses a filtering method for gyroscopic drift under a collaborative navigation condition of multiple unmanned surface vehicles. The filtering method comprises the following steps: two master unmanned surface vehicles provide with high-precision inertial navigation devices alternate to transmit an underwater sound distance measurement signal with a time stamp to a slave unmanned surface vehicle, the slave unmanned surface vehicle uses the speed measured by a Doppler velocity sonar and the course measured by an MEMS (micro-electromechanical system) gyroscope to conduct track plotting, and calculates the distance between the master unmanned surface vehicle and the slave unmanned surface vehicle through multiplying the difference of the transmitting time and the receiving time of the underwater sound signal by the sound velocity, and the position of the slave unmanned surface vehicle is updated and corrected through an EKF (Extended Kalman Filter) algorithm so as to estimate and compensate the gyroscopic drift. The EKF algorithm is used to correct the track plotting, and the initial course deviation and drift of the MEMS gyroscope can be estimated and compensated to improve the locating precision; in order to improve the observability, the two master unmanned surface vehicles alternate to transmit the distance measurement signal to the slave unmanned surface vehicle, the same state is adopted to firstly estimate the initial course deviation and then completely eliminate the course deviation and estimate the gyroscopic drift, and a very good filtering effect is achieved.

Description

technical field [0001] The invention belongs to the technical field of cooperative navigation and positioning of multiple unmanned boats, and in particular relates to a filtering method for gyro drift under the condition of cooperative navigation of multiple unmanned boats. Background technique [0002] The cooperative navigation of multiple unmanned boats is to use the high-precision navigation information of other boats in the system, and realize the sharing of navigation resources between boats through certain information exchange. Boats equipped with low-precision navigation equipment can improve their own navigation accuracy. When some boats lose their independent navigation ability due to sensors or environmental factors, cooperative navigation can restore the navigation ability of these platforms to a certain extent. Therefore, the study of cooperative navigation of unmanned surface vehicles has important theoretical value and practical significance. Underwater acous...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a filtering method for gyro drift under the condition of cooperative navigation of multiple unmanned boats, aiming at solving the problem that the accuracy of the MEMS gyro of the slave boat is low, and it is difficult to estimate the initial course deviation and gyro drift at the same time, so that the filtering method The state has only three dimensions

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