A sins/usbl phase difference tight integrated navigation and positioning method based on double transponders

Abstract

A SINS / USBL phase difference tight integrated navigation and positioning method based on dual transponders, which is composed of a strapdown inertial navigation system and an ultra-short baseline positioning system installed on an AUV. The guidance system is fixedly connected together and the calibration of the installation error has been completed. Two transponders are placed on the seabed, and an oblique distance phase observation model between the hydrophone and the transponder of the ultra-short baseline system is established; the ultra-short baseline positioning of the dual-transponder structure system, the slant range phase equation is differentially processed at the hydrophone level and the transponder level; and then the slant range phase difference equation after double-layer differential processing is refined into an integrated navigation system observation equation for filtering. The invention adopts the double-difference processing method to effectively offset the common error in the ultra-short baseline positioning system, and adopts the ultra-short baseline phase difference as the observation quantity for tight combination, avoiding the coordinate conversion error and the matrix caused by the direct solution position of USBL The offset error can effectively improve the accuracy of the AUV integrated navigation and positioning system.

Description

technical field [0001] The invention belongs to the underwater navigation technology, and in particular relates to a dual-transponder-based SINS / USBL phase-difference-tight combined navigation and positioning method. Background technique [0002] Throughout the world, there is growing interest in the ability of underwater vehicles to survey vast ocean resources with high precision. As an autonomous underwater mobile carrier, underwater vehicle has the advantages of wide range of activities, small size, light weight, low noise and high concealment. It has become an important direction of marine technology research in various countries. In order to ensure that the autonomous underwater vehicle can successfully complete the relevant underwater tasks, the navigation system it is required to be equipped with has the ability of long-term autonomous navigation, positioning and return. [0003] Among the existing positioning technologies, inertial navigation system (INS) has been w...

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Problems solved by technology

[0006] In the research on the combined positioning algorithm of underwater vehicles, on the one hand, most of the current research is based on the inertial / long baseline combined positioning method, and the research on the inertial / ultra-short baseline combined positioning algorithm is not sufficient; on the other hand, in the existing In the inertial / ultra-short baseline combination positioning method, it mainly focuses on the loose combination of ultra-short baseline positions, but this loose combination method cannot effectively suppress the impact of underwater environmental noise on the accuracy of the ultra-short baseline positioning system. The accuracy improvement effect is very limited, and the positioning accuracy of the integrated navigation system cannot be guaranteed

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