Method for compensating external measurement information based on SINS/DVL integrated navigation system

A technology of integrated navigation system and compensation method, which is applied in the field of external measurement information compensation based on SINS/DVL integrated navigation system, and can solve problems such as coordinate system errors

Active Publication Date: 2019-07-19
HARBIN ENG UNIV
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Problems solved by technology

However, due to the use of carrier information at two different times before and after, there is a time delay, and the error of the coordinate system at different times is introduced, which cannot effectively deal with the influence of noise

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  • Method for compensating external measurement information based on SINS/DVL integrated navigation system
  • Method for compensating external measurement information based on SINS/DVL integrated navigation system
  • Method for compensating external measurement information based on SINS/DVL integrated navigation system

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Embodiment Construction

[0074] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and understandable, the present invention will be further described below in conjunction with the accompanying drawings:

[0075] figure 1 It is a flow chart of a method for compensating external measurement information based on a SINS / DVL integrated navigation system;

[0076] figure 2 is the schematic diagram of hull pitching;

[0077] image 3 Schematic diagram of suppressing speed measurement error for attitude compensation;

[0078] Figure 4 For the Matlab simulation test of the present invention, the east direction misalignment angle error figure (simulation time 1h);

[0079] Figure 5 For the present invention's Matlab simulation test north direction misalignment angle error figure (simulation time 1h);

[0080] Figure 6 It is the Matlab simulation test direction misalignment angle error figure (simulation time 1h) of the present invention;

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Abstract

The invention relates to the field of integrated navigation systems, in particular to a method for compensating external measurement information based on a SINS / DVL integrated navigation system. The method comprises the following steps of obtaining initial position information of a carrier according to the global positioning GPS system, importing the information into a navigation computer to perform preheating of the fiber optic gyro strap-down inertial navigation SINS system, obtaining a carrier attitude angle according to the fiber optic gyroscope and the quartz accelerometer, carrying out initial alignment and establishing an initial strap-down matrix, obtaining the information about angular motion and linear motion of the carrier according to an inertial component IMU, carrying out navigation solution to obtain a strap-down matrix, establishing a Kalman filter model, correcting to obtain a strap-down matrix corrected by the Kalman filter model, and compensating the strap-down matrix corrected by the Kalman filter model in the step four to the DVL speed measurement according to the SINS / DVL measurement equation of DVL speed measurement. The method provided by the invention can suppress errors during the DVL speed measurement and improve the accuracy of the DVL speed measurement by estimating the attitude of the carrier during the navigation process of the carrier and compensating the attitude to errors of the DVL speed measurement, and is simple and easy to operate.

Description

technical field [0001] The invention relates to the field of integrated navigation systems, in particular to a method for compensating external measurement information based on a SINS / DVL integrated navigation system. Background technique [0002] The measurement of the ship's speed, especially the measurement of the ground speed has attracted more and more attention. [0003] Due to the increasingly high requirements for ship speed measurement in reality, for example, when a large ship enters a port and berths, the required speed measurement accuracy is higher, even reaching 0.01 knots. For submarines navigating underwater, speed measurement is also one of the important means of navigation. Especially when underwater missiles are launched, the speed of the submarine itself will affect the attitude of the missiles out of the water. Therefore, the determination of ship speed is particularly important. [0004] At present, the Doppler log is a commonly used marine log. It i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/52
CPCG01S19/52
Inventor 奔粤阳陈海南吴磊周广涛李倩藏新乐孙炎王坤崔文婷高倩倩
Owner HARBIN ENG UNIV
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