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Estimation method of installation error of DVL direction in SINS and DVL combination

A technology of installation error and error, applied in the field of DVL azimuth installation error estimation in SINS/DVL combination, can solve the problem of destroying the concealment of underwater vehicles

Active Publication Date: 2015-11-25
SOUTHEAST UNIV
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Problems solved by technology

However, this method destroys the stealth of the underwater vehicle

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  • Estimation method of installation error of DVL direction in SINS and DVL combination
  • Estimation method of installation error of DVL direction in SINS and DVL combination
  • Estimation method of installation error of DVL direction in SINS and DVL combination

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Embodiment Construction

[0064] The present invention aims at the underwater integrated navigation system formed by DVL-assisted SINS, and selects SINS speed error, attitude error, position error, accelerometer zero bias, gyroscope zero bias, DVL scale coefficient error, DVL and IMU azimuth installation error in SINS as The state vector is used to construct the system state equation; the difference between the velocity of the SINS carrier body and the velocity of the DVL installation coordinate system is selected as the measurement vector to construct the system measurement equation; the Kalman filter is used as the SINS / DVL information fusion filter; the turning motion is selected to obtain The best observability of SINS / DVL azimuth installation error, that is, the best estimation effect.

[0065] Below in conjunction with accompanying drawing, the implementation method of the present invention is described in more detail:

[0066] A DVL orientation installation error estimation method in a SINS / DVL ...

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Abstract

The invention discloses an estimation method of an installation error of a DVL direction in an SINS and DVL combination. The method comprises the steps that an SINS speed error, an attitude error, a position error, an accelerometer null bias, a gyroscope null bias, a DVL scale coefficient error and the installation error of the direction of an IMU in a DVL and an SINS are selected to serve as state vectors, and a system state equation is established; a difference value of the SINS load system speed and the DVL installation coordinate system speed is selected to serve as a measurement vector, and a system measurement equation is established; a Kalman filter serves as an SINS and DVL information fusion filter; turning motion is selected to obtain the best observable degree of the SINS and DVL direction installation error, thus, the best estimation effect is achieved. According to the estimation method of the installation error of the DVL direction in the SINS and DVL combination, an external GPS is not needed for reference to assist in navigation information, the DVL speed does not need to be converted to a navigation coordinate, and the feasible plan of improving the direction installation error estimation performance can be selected according to the observability analysis results.

Description

technical field [0001] The invention relates to the field of navigation, in particular to a DVL orientation installation error estimation method in a SINS / DVL combination. Background technique [0002] For the Inertial Navigation System (Strapdown Inertial Navigation, SINS) based on the integral working method, its positioning error accumulates with time, and it is difficult to meet the long-term high-precision positioning requirements. The Doppler Velocity Log (DVL) can provide high-precision Continuous speed information is commonly used as an aid to navigation. Combining DVL with SINS suppresses the divergence of positioning errors. The installation deviation angle of DVL is the main factor affecting the positioning accuracy of SINS / DVL combination. In order to improve the positioning accuracy of SINS / DVL integrated navigation system, it is necessary to accurately calibrate the installation deviation between the strapdown inertial device and the Doppler velocimeter. At p...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 刘锡祥刘志鹏宋清杨燕刘贤俊黄永江
Owner SOUTHEAST UNIV
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