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Doppler velocimeter speed correction method and autonomous underwater vehicle navigation error correction method

A Doppler velocimeter, autonomous vehicle technology, applied in instruments, fluid velocity measurement, navigation calculation tools, etc., can solve the problem that the navigation filtering algorithm is difficult to effectively improve the navigation accuracy, and it is difficult to meet the requirements of cost control, reliability and reliability. Applicability discounts and other issues, to achieve the effect that parameter adjustment is easier to operate, easy to implement, and has a wide range of applications

Pending Publication Date: 2018-03-06
XIAN TIANHE SEA DEFENSE INTELLIGENT TECH CO LTD
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] With the development of underwater unmanned autonomous vehicles, the method of replacing higher-precision attitude and speed sensors is difficult to meet people's requirements for cost control; it is difficult to effectively improve navigation accuracy by replacing complex navigation filtering algorithms. The applicability is greatly reduced; unilaterally filtering the heading information of the magnetic compass cannot fundamentally solve the problem of heading information distortion

Method used

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  • Doppler velocimeter speed correction method and autonomous underwater vehicle navigation error correction method
  • Doppler velocimeter speed correction method and autonomous underwater vehicle navigation error correction method
  • Doppler velocimeter speed correction method and autonomous underwater vehicle navigation error correction method

Examples

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Embodiment 1

[0059] This embodiment provides a method for correcting the velocity of a Doppler velocimeter, such as figure 1 shown, including the following steps:

[0060] S1. Obtain the forward velocity and lateral velocity output by the Doppler speedometer;

[0061] S2. Calculate the installation error angle and velocity coefficient of the Doppler velocimeter according to the forward velocity and the lateral velocity;

[0062] S3. Combining the installation error angle and the speed coefficient of the Doppler velocimeter, the forward velocity and the lateral velocity output by the Doppler velocimeter are corrected and calculated to obtain the corrected forward velocity and the lateral velocity.

[0063] In the above-mentioned Doppler Velocimeter speed correction method, before the navigation algorithm inputs the sensor information, the installation error angle correction and velocity coefficient identification of the DVL (Doppler Velocimeter) are carried out first, and then smoothing fi...

Embodiment 2

[0082] This embodiment provides a navigation error correction method for an underwater autonomous vehicle. Before the underwater unmanned autonomous vehicle introduces the heading information into the dead reckoning algorithm, the DVL installation error angular velocity coefficient is first calculated by the least square method, and then the two The group parameters are fed back to the output speed information for correction, and finally the corrected speed information is introduced into dead reckoning after being smoothed by αβ filtering, which specifically includes the following steps:

[0083] S2-1. Adopt the method for correcting the speed of the Doppler velocimeter in Embodiment 1 to obtain the corrected forward velocity and lateral velocity (if there is filtering and smoothing processing, then the forward velocity and lateral velocity after filtering and smoothing processing) );

[0084] S2-2. Introducing the corrected forward velocity and lateral velocity into dead reck...

Embodiment 3

[0093] This embodiment provides a navigation error correction method for an underwater autonomous vehicle. Before the underwater autonomous vehicle introduces the heading information into the dead reckoning algorithm, the magnetic compass is first compensated for the magnetic field, the magnetic declination angle is corrected, and the error angle is installed. Correction, and then introduce the corrected heading information into the dead reckoning after being smoothed by αβ filtering; at the same time, the DVL installation error angular velocity coefficient is calculated by the least square method, and then these two sets of parameters are fed back to the output speed information for correction, and finally the corrected The speed information is introduced into the dead reckoning after being smoothed by αβ filtering, which specifically includes the following steps:

[0094] S3-1. Obtain the heading provided by the magnetic compass;

[0095] S3-2. Calculate the error according ...

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Abstract

The invention provides a Doppler velocimeter speed correction method and an autonomous underwater vehicle navigation error correction method, and belongs to the technical field of unmanned autonomousunderwater vehicle navigation. The Doppler velocimeter speed correction method comprises the following steps: obtaining forward velocity and side velocity output by a Doppler velocimeter; calculatinginstallation error angle and velocity coefficient of the Doppler velocimeter according to the forward velocity and the side velocity; and carrying out correction computation on the forward velocity and side velocity output by the Doppler velocimeter based on the installation error angle and the velocity coefficient of the Doppler velocimeter to obtain corrected forward velocity and side velocity.The method has the advantages of low cost, easy operation and wide application range, and improves navigation error correction result reliability.

Description

technical field [0001] The invention relates to the technical field of underwater unmanned autonomous vehicle navigation, in particular to a speed correction method for a Doppler velocimeter and a navigation error correction method for an underwater autonomous vehicle. Background technique [0002] AUV (Autonomous Underwater Vehicle, autonomous underwater vehicle) is an underwater vehicle that can autonomously complete a variety of specific tasks such as underwater detection, attack, delivery, and salvage. Positioning navigation and return capabilities, and has concealment. In order to ensure that it can solve underwater operations smoothly, higher navigation accuracy requirements are put forward for AUV. The navigation error of underwater unmanned autonomous vehicles directly affects its navigation accuracy. In the past, underwater unmanned autonomous vehicles that used dead reckoning as their navigation algorithm mainly unilaterally replaced higher-precision magnetic comp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01P5/24G01C21/20
CPCG01C21/20G01P5/241
Inventor 蔡挺杨晶潘常军黄江成陈建峰王英
Owner XIAN TIANHE SEA DEFENSE INTELLIGENT TECH CO LTD
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