Correction method of installation error of Doppler log for autonomous underwater vehicle

Abstract

The invention discloses a correcting method of installation errors of a doppler log of an autonomous underwater vehicle (AUV). The correcting method comprises the following steps: (1), data acquiring, namely acquiring northeast-direction location information, depth information, speed information and gesture information of the AUV on water surface; (2), filter wave estimating, namely by taking a DVL (Doppler Velocity Log) dead reckoning model with error correction, AUV three-dimensional location information and a DVL three-dimensional installation drift angle as system state vectors, the speed information measured by a DVL and the gesture information measured by a gesture sensor as system input vectors, the AUV three-dimensional location information as a measuring vector, establishing a discrete time system state equation and a measuring equation; carrying out filter wave estimating by adopting improved square capacity root Kalman filtering to obtain an estimated value of the DVL installation drift angle; and (3), error correcting, namely acquiring a DVL installation error correcting matrix according to the estimated value of the installation drift angle. The correcting method disclosed by the invention is easy to operate, does not need external equipment assistance and can effectively estimate the three-dimensional installation drift angle of the DVL, so that influences of the DVL installation errors on the AUV navigation accuracy are eliminated, and practical value is very high.

Description

technical field [0001] The invention relates to a calibration technology of a navigation instrument of an autonomous underwater vehicle (AUV), and belongs to the field of marine engineering. Background technique [0002] Autonomous underwater vehicle is an underwater unmanned autonomous vehicle platform without cable connection. After being loaded with suitable sonar, hydrological, chemical and other sensors, it can be applied to underwater environment monitoring, offshore petroleum engineering operations, underwater search and mapping and other fields. It has the characteristics of flexible control, wide navigation area, and low price. It is one of the hot spots in the field of marine engineering research in recent years. [0003] Underwater navigation technology is the key to autonomous navigation of underwater vehicles. However, unlike traditional navigation systems, underwater navigation technology has the characteristics of complex ocean environment, less external info...

AI Technical Summary

Problems solved by technology

However, in practical engineering applications, DVL installation errors are usually unavoidable, and its installation deflection angle will lead to speed conversion errors, which will directly affect the overall navigation accuracy of the system, and will produce cumulative errors with the increase of navigation time. Installation errors are corrected to improve the accuracy of AUV autonomous navigation

Among the existing installation error correction methods, the average speed correction method is widely used, but this method ignores the influence of roll and pitch installation deflection angles, and requires that the carrier's navigation attitude remains unchanged during the correction process and long-distance straight-line navigation is required.

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