A method of correcting a velocity measurement error of a Doppler velocity log

A Doppler speed log and speed measurement technology, which is applied in the field of navigation systems and navigation sensors, can solve problems such as DVL speed measurement errors and affect the accuracy of integrated navigation, achieve accurate error correction models, improve DVL speed measurement accuracy, and data selection simple effect

Inactive Publication Date: 2017-06-30
BEIJING INSTITUTE OF TECHNOLOGYGY
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However, when the horizontal attitude of the carrier changes due to factors such as the surge, or the carrier's upward or dow

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  • A method of correcting a velocity measurement error of a Doppler velocity log
  • A method of correcting a velocity measurement error of a Doppler velocity log
  • A method of correcting a velocity measurement error of a Doppler velocity log

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[0044] The present invention will be described in detail below with reference to the drawings and embodiments.

[0045] When establishing the correction model, the present invention fully considers the pitch angle θ, the carrier pitch angle change Δθ within the time difference Δt between DVL transmitting and receiving signals, and the lever arm L and carrier pitch angle rate between the DVL installation position and the carrier swing center The lever arm effect caused by ω introduces the DVL velocity measurement error, which makes the established correction model more accurate. After completing the DVL velocity measurement error correction, more accurate navigation results can be obtained.

[0046] The definition of the coordinate system and variables in the present invention:

[0047] Navigation coordinate system n: the origin O is at the center of the carrier, X n Axis and Y n The axes point east and north respectively in the local horizontal plane, Z n The axis points to the sky p...

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Abstract

A method of correcting a velocity measurement error of a Doppler velocity log is disclosed. A correcting model based on the method can utilize attitude information provided by an inertial navigation system (INS) to correct a velocity measurement error caused by carrier pitch angle changes for the Doppler velocity log (DVL), thus increasing precision of INS/DVL combined navigation. In the model, an influence of a nonzero pitch angle on the velocity measurement error of the DVL is taken into account, and influences of a carrier pitch angle change in a time difference between DVL signal emitting time and signal receiving time, and lever arm effects caused by a pitch angle velocity and a lever arm at a DVL mounting position on the velocity measurement error of the DVL are also taken into account, and therefore the built error correcting model is more accurate. The carrier attitude information provided by the navigation system is substituted into the velocity measurement error correcting model for the DVL, data acquisition is simple and rapid, and effective error correction can be achieved.

Description

technical field [0001] The invention relates to the technical field of navigation systems and navigation sensors, in particular to a method for correcting speed measurement errors of a Doppler log. Background technique [0002] In long-endurance navigation, since the error of the inertial navigation system (INS) accumulates over time, other sensors are needed to assist in integrated navigation, thereby suppressing the error accumulation of the INS. In the long-endurance navigation of underwater submersibles, due to the particularity of the underwater environment, radio signals attenuate rapidly in water, so that the Global Navigation Satellite System (GNSS) represented by GPS cannot be used underwater. It is necessary to find other sensors to realize underwater integrated navigation. [0003] Doppler Log (DVL), as an accurate speed sensor, has been widely used in integrated underwater navigation. INS / DVL is currently the main way to realize autonomous underwater navigation....

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 王博刘沛佳肖烜邓志红汪顺亭
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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