An online calibration method of dvl speed measurement error

Abstract

The present invention models the speed measurement error of DVL more accurately, and proposes an online calibration method for DVL speed measurement error, which takes the starting point of the carrier as the "first point", makes the carrier dive with a constant attitude, and then Do horizontal linear motion with a constant attitude, float to the water surface after running for a period of time, receive GNSS signals to obtain position information, use the point that floats up for the first time as the "second point", and record the "first point" to "second point" The real displacement and the displacement with error of the trajectory of the "point"; and then make the vehicle dive again with a constant attitude, and then make a horizontal and straight line movement with a constant attitude, and use the point that floats up for the second time as the "third point" , record the real displacement and the displacement with error of the motion trajectory from the "second point" to the "third point", and bring the two displacements into the calibration equations to obtain all the speed measurement error items to be calibrated, thus completing the calibration .

Description

technical field [0001] The invention relates to an online calibration method for DVL speed measurement error, which belongs to the field of inertial navigation systems. Background technique [0002] High-precision underwater navigation remains a major challenge for all underwater platforms. Inertial Navigation System (INS) / Doppler Logger (DVL) integrated navigation is one of the most promising underwater navigation methods because it does not require prior knowledge and real-time external information. INS can independently provide all navigation information: attitude, velocity and position. Although it has high short-term accuracy, errors will accumulate over time. For the INS / DVL integrated navigation system, DVL can provide accurate speed measurement, so the INS error will be well suppressed, and the navigation positioning accuracy has been greatly improved. [0003] The speed measurement accuracy of DVL is one of the decisive factors affecting the accuracy of the SINS / ...

AI Technical Summary

Problems solved by technology

However, this method can only calibrate the heading installation error angle and scale factor, but cannot calibrate the horizontal installation error angle and constant error, which leads to a certain degree of limitation on the positioning accuracy of the SINS / DVL integrated navigation system

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