Method for estimating initial heading deviation filtering

Abstract

The invention discloses a method for estimating the initial heading deviation filtering. The method for estimating the initial heading deviation filtering comprises the following steps: preparing two main boats equipped with high-precision inertial navigation equipment to send subaqueous sound ranging signals with time stamps to a slave boat alternatively; carrying out dead reckoning by the slave boat by utilizing the speed measured by a Doppler velocimeter and the heading measured by an MEMS (Micro-electromechanical Systems) gyroscope, and calculating the distance between each main boat and the slave boat by multiplying the time difference of sending and receiving submarine sound signals and the sound velocity; updating and amending the position of the slave boat by using Kalman filter algorithm, estimating and compensating the initial heading deviation of the gyroscope. According to the method, through the radio broadcasting positional information of the main boat, the slave boat passively receives radio signals transmitted by the main boat, so that the expansibility is improved, and the condition of multiple slave boats can be simulated by using two main boats and one slave boat; the slave boat is provided with low-precision inertial navigation equipment for pushing, and the high-precision inertial navigation equipment of the main boat is utilized by measuring the distance between the slave boat and each main boat, thus the positioning precision is improved, and the equipment cost is greatly reduced.

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 method for estimating initial course deviation filtering. 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 acoustic communication can realize the positioning an...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the embodiments of the present invention is to provide a method for estimating the initial course deviation filter, aiming at solving the problem that the course deviation is not used as the state and the master-slave boat distance is used as the observation to perform Kalman filtering.

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