SINSUSBL tightly-coupled algorithm

A tightly coupled and algorithmic technology, applied in the field of multi-transponder SINS/USBL integrated navigation algorithm, can solve the problems of cumbersome preparation work, low accuracy of angle measurement, and inability to meet underwater high-precision navigation.

Inactive Publication Date: 2017-03-08
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

[0003] The common feature of existing USBL devices is that the distance measurement accuracy is high and the angle measurement accuracy is relatively low
In addition, the conventional single transponder SINS / USBL integrated navigation system must pre-calibrate the installation angle from USBL to SINS before use, and the preparation work is cumbersome
The existing single transponder SINS / USBL integrated navigation scheme at home and abroad, its positioning accuracy is largely limited by the angle measurement error of USBL and the installation angle error of the two, which cannot meet the needs of some underwater high-precision navigation

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Embodiment Construction

[0063] The technical solution of the present invention will be described in detail below in conjunction with specific embodiments.

[0064] A kind of SINSUSBL tight-coupling algorithm of the present invention is applicable to multi-responder SINS / USBL combination navigation, comprises the following steps:

[0065] (1) Determine the USBL principle of the ultra-short baseline positioning system

[0066] The basic working principle of the three-transponder USBL is the intersection of three transponders whose positions are known to the center of the matrix as the radius of the sphere; i=1,2,3 means three transponders, which are in the earth's Cartesian coordinate system at the location of The three slope distance values ​​measured by USBL are R i and the matrix position is (X e ,Y e ,Z e ), according to the principle of space spherical intersection, the following parameter equations are obtained:

[0067] Formula 1)

[0068] Using the transponder position obtained from ...

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Abstract

The invention discloses an SINSUSBL tightly-coupled algorithm. The invention belongs to the technical field of tightly-coupled navigation algorithms, and particularly relates to a multi-transponder SINS / USBL integrated navigation algorithm. According to the technical scheme of the invention, a novel multi-transponder SINS / USBL integrated navigation scheme is designed, and error modeling and simulation analysis are performed on the multi-transponder SINS / USBL integrated navigation algorithm. The algorithm can avoid the influence of USBL angle measurement error and USBL-to-SINS installation angle error on the positioning accuracy, needs no calibration of the USBL-to-SINS installation angle, and is more convenient to use. Higher positioning accuracy can be achieved compared with the existing single-transponder SINS / USBL integrated navigation algorithm.

Description

technical field [0001] The invention belongs to the technical field of tightly coupled navigation algorithms, and in particular relates to a multi-responder SINS / USBL combined navigation algorithm. Background technique [0002] Strapdown inertial navigation system (SINS) can provide complete navigation information for underwater vehicles, but its error accumulates over time; ultra-short baseline (USBL) positioning system is simple to operate, strong in portability, and low in cost, and can measure the transponder relative to The relative position information (including angle information and slope distance information) of the array can be used as an auxiliary navigation system to suppress the divergence of inertial navigation system errors. SINS / USBL integrated navigation can integrate the advantages of the two to achieve complementarity. [0003] The common feature of the existing USBL devices is that the distance measurement accuracy is high and the angle measurement accur...

Claims

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Application Information

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IPC IPC(8): G01S5/02G01S5/12G01C21/16
CPCG01C21/165G01S5/0257G01S5/12
Inventor 张亚文马小艳莫明岗郭玉胜邓继权艾瀛涛
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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