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A dvl failure processing method for sins/dvl integrated navigation system

A technology of an integrated navigation system and a processing method, applied in the field of DVL failure processing, can solve the problems of damage model robustness and low reliability of processing results.

Active Publication Date: 2018-02-06
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In order to solve the problem of low reliability of processing results after sensor failure in the prior art, the purpose of the present invention is to propose a DVL failure processing method for the SINS / DVL integrated navigation system to solve the problem that the multi-correlation damage model of independent variables is robust sexual problems

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  • A dvl failure processing method for sins/dvl integrated navigation system
  • A dvl failure processing method for sins/dvl integrated navigation system
  • A dvl failure processing method for sins/dvl integrated navigation system

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Embodiment Construction

[0052] The present invention will be further explained below in conjunction with the accompanying drawings. Such as figure 1 Shown, a kind of DVL invalidation processing method that is used for SINS / DVL combined navigation system of the present invention, concrete steps are as follows:

[0053] Nine arguments to the navigation system when DVL is active and 2 dependent variables Observe N sample points to form an independent variable data table and dependent variable data table

[0054] in:

[0055] T is the time when the sample point is observed, and DVL is valid at T-1 time and T-2 time,

[0056] and H SINS(T-2) are the eastward velocity, northward velocity, and heading angle obtained from the SINS solution at time T-2, respectively,

[0057] and H SINS(T-1) are the eastward velocity, northward velocity and heading angle obtained from the SINS solution at time T-1, respectively,

[0058] and H SINS(T) are the eastward velocity, northward velocity and head...

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Abstract

The invention discloses a DVL (doppler velocity log) failure processing method for an SINS (strapdown inertial navigation system) / DVL integrated navigation system. When a DVL is effective, calculation information of an SINS and measurement information of the DVL are acquired and form a data table, and a prediction model is established by means of partial least squares regression; when the DVL is failed, measurement information of the DVL is predicted by means of the established model, a prediction result is merged with the calculation information of the SINS, and SINS / DVL integrated navigation is realized in the failure state of the DVL. The measurement information of the DVL is predicted with the calculation information of the SINS at the failure moment and before failure as input, the accuracy of the prediction result is improved, the model is established by means of partial least squares regression, the defect that robustness of the model is damaged due to multiple correlation of independent variables is overcome, and the reliability of the established model is guaranteed.

Description

technical field [0001] The invention relates to the field of integrated navigation systems, in particular to a DVL failure processing method used in a strapdown inertial navigation system (Strapdown Inertial Navigation System, SINS) and Doppler Velocity Log (DVL) integrated navigation system. Background technique [0002] As a tool for human exploration and development of the ocean, autonomous underwater vehicles (Autonomous Underwater Vehicle, AUV) have received more and more attention. To enable AUV to successfully complete the intended mission, underwater navigation and positioning is a key technology. Because underwater navigation has the characteristics of complex environment, relatively few information sources, and high concealment requirements, a single navigation system cannot meet the requirements of high precision and high reliability. Combining SINS and DVL constitutes a highly reliable and highly autonomous SINS / DVL integrated navigation system, which does not r...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/16G01C25/00
CPCG01C21/165G01C21/20G01C25/00
Inventor 程向红朱倚娴周玲胡杰
Owner SOUTHEAST UNIV