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SINS/DVL/ES combined navigation method based on information pre-evaluation and compensation correction

A technology of combined navigation and navigation method, which is applied in the field of tracking and positioning, and can solve problems affecting the accuracy of SINS navigation and positioning

Active Publication Date: 2016-07-20
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

If the speed information of DVL participates in Kalman filtering at this time, it will affect the navigation and positioning accuracy of SINS

Method used

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  • SINS/DVL/ES combined navigation method based on information pre-evaluation and compensation correction
  • SINS/DVL/ES combined navigation method based on information pre-evaluation and compensation correction
  • SINS/DVL/ES combined navigation method based on information pre-evaluation and compensation correction

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Embodiment 1

[0048] As stated above, while the invention has been shown and described with reference to certain preferred embodiments, this should not be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

[0049] As attached to the manual figure 1 Shown, the present invention is made up of following 7 parts:

[0050] The present invention consists of SINS (Strapdown Inertial Navigation Systems, strapdown inertial navigation system, SINS for short) installed on the underwater AUV (Autonomous Underwater Vehicle, autonomous underwater vehicle, referred to as AUV), DVL (Dopplervelocitylog, Doppler velocity log, DVL for short), ES (Echo-Sounder, depth sounder, ES for short), SINS / DVL / ES information pre-judgment module, Kalman filter processing module, integrated navigation compensation correction judgment module and compensation correction processin...

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Abstract

The invention provides an SINS / DVL / ES combined navigation method based on information pre-evaluation and navigation result compensation correction. DVL data validity is judged before SINS / DVL combination, and when the DVL data information is invalid, DVL navigation information does not participate in combined navigation; at the same time, a residual error x2 testing method is introduced for evaluating whether combined navigation results are stable, and a compensation correction method is designed for real-time evaluation and correction compensation of Kalman output results when the combined navigation results are oscillated. The combined navigation method can effectively suppress the divergence speed of the SINS / DVL combined navigation attitude and speed, improves the combined system attitude and speed accuracy, improves the position accuracy in a certain extent, and also can solve the oscillation problem of attitude errors brought by declining of the DVL data information quality.

Description

technical field [0001] The invention relates to a SINS / DVL / ES information pre-judgment and navigation result compensation correction method, which is especially suitable for tracking and positioning of ships, underwater autonomous vehicles AUV and the like. Background technique [0002] AUV (Autonomous Underwater Vehicle), autonomous underwater vehicle) is an underwater vehicle that can autonomously complete various specific tasks such as underwater detection, attack, carrying, salvage, etc., and requires it to have long-term autonomous positioning underwater Navigation and return capabilities, and concealment. In order to ensure that it can solve underwater operations smoothly, higher navigation accuracy requirements are put forward for AUV. SINS (Strapdown Inertial Navigation Systems), strapdown inertial navigation system) has the characteristics of autonomy, concealment, anti-interference, high data update frequency, and high accuracy in a short time, especially suitable...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/16G01S7/40G01S13/58G01S13/86G01S13/88
CPCG01C21/165G01C25/005G01S7/40G01S13/58G01S13/86G01S13/881
Inventor 徐晓苏童金武张涛李瑶王捍兵孙进刘义亭姚逸卿杨冬瑞陈立平石宏飞金博楠
Owner SOUTHEAST UNIV
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