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Mechanical method for calibrating installation error of SINS/USBL integrated positioning system

A positioning system and installation error technology, which is applied in the fields of inertial navigation and underwater acoustic positioning, can solve the problems of inconvenient use, long time consumption, and high economic cost for users, so as to save delivery and use costs, save manufacturing costs, and improve calibration accuracy Effect

Active Publication Date: 2018-08-17
TIANJIN NAVIGATION INSTR RES INST
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the traditional calibration process, beacons or transponders need to be laid out on the seabed first, and the surface ship installed with the USBL positioning system (including supporting attitude equipment and GNSS equipment) executes a certain route around the beacons or transponders. The calibration process is time-consuming, laborious and economical. high cost
Such a calibration method takes a long time, has high economic costs, and is inconvenient for users to use. Moreover, if the USBL device and attitude device are replaced or reinstalled, the calibration procedure must be performed again.

Method used

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  • Mechanical method for calibrating installation error of SINS/USBL integrated positioning system
  • Mechanical method for calibrating installation error of SINS/USBL integrated positioning system
  • Mechanical method for calibrating installation error of SINS/USBL integrated positioning system

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Embodiment Construction

[0045] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0046] In the USBL positioning principle scheme, the four array elements constituting the basic array coordinate system are simplified as particle, but in fact the four array elements are non-mass points with a certain size and shape, and the basic array system derived from the plane wave assumption The formula for calculating underwater acoustic positioning is:

[0047]

[0048]

[0049] In the formula: x——the x-coordinate of the underwater target in the matrix system

[0050] y——the y coordinate of the underwater target in the basic array system

[0051] c - speed of sound in water

[0052] τ x ——The time delay difference between the two array elements receiving signals on the x-axis

[0053] τ y ——The time delay difference between the two array elements receiving signals on the y-axis

[0054] L——array element spacing

[0055] R——t...

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Abstract

The invention relates to a mechanical method for calibrating the installation error of an SINS / USBL integrated positioning system. The method comprises the following steps: 1, constructing an SINS / USBL integrated positioning system structure; 2, calibrating four spherical energy transducers and the SINS coordinate system of the SINS / USBL integrated positioning system constructed in step 1 by usinga trilinear coordinates measuring instrument; 3, calculating a calibration result of an installation error angle between a non-orthogonal array coordinate system XaYaZa and an orthogonal SINS coordinate system XbYbZb; and 4, compensating the calibration result of the installation error angle of the non-orthogonal array coordinate system, calculated in step 3, and calculating the coordinates of atransponder in a geographic coordinate system. The method improves the calibration precision, saves the delivery and use cost of a product, and is convenient for a user to use.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation and underwater acoustic positioning, and relates to a SINS / USBL integrated positioning system, in particular to a mechanical method for calibrating installation errors of a SINS (strapdown inertial navigation system) / USBL (ultra-short baseline) integrated positioning system . Background technique [0002] The USBL system is generally installed on the hull, and it needs to provide the course angle, roll angle and pitch angle of the hull and the absolute position information of the USBL matrix in real time during work. These data usually come from the compass and satellite navigation receivers. Before the USBL is installed on the ship and used for the first time, it is necessary to accurately measure and compensate the installation error angle between the USBL and the compass equipment, which is generally achieved by using a statistical calibration method at sea on a surface ship with th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 王彦国梁瑾刘斌刘昱王海鹏
Owner TIANJIN NAVIGATION INSTR RES INST