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Structural compensation method for installation error of sins/dvl integrated navigation system

A technology of integrated navigation system and installation error, applied in the field of navigation, can solve the problems of cumbersome calibration process, time-consuming and laborious, etc.

Active Publication Date: 2022-07-26
TIANJIN NAVIGATION INSTR RES INST
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  • Abstract
  • Description
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Problems solved by technology

[0024] Usually external observation information (such as precise GNSS position information) is used to calibrate the installation error between SINS / DVL, the calibration process is cumbersome, and re-calibration is required after reinstalling SINS or DVL, which is time-consuming and laborious

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  • Structural compensation method for installation error of sins/dvl integrated navigation system
  • Structural compensation method for installation error of sins/dvl integrated navigation system
  • Structural compensation method for installation error of sins/dvl integrated navigation system

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Embodiment Construction

[0063] In order to further understand the content of the invention, features and effects of the present invention, the following embodiments are exemplified and described in detail with the accompanying drawings as follows:

[0064] like figure 1 As shown, the transducer used in DVL is a piezoelectric composite underwater acoustic transducer, and the coordinate system is defined as follows figure 1 shown. In order to explain the mapping of the coordinate system to the structure, the origin of the coordinate is selected at the geometric center of the transducer installation surface (the same below). O t Z t The direction is the vibration direction of the sound wave, O t X t Y t Z t form a right-handed coordinate system. It should be noted that O t Y t , O t X t The direction determination depends on the beam inclination and O t Z t Relative to the DVL coordinate system.

[0065] like figure 2 shown, O d X d Y d Z d is the DVL coordinate system, where O d Y...

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Abstract

The invention discloses a structure compensation method for installation error of a SINS / DVL integrated navigation system, belonging to the technical field of navigation. It is characterized by comprising the following steps: S1: installation error related coordinate system mapping structure design; The industrial CT scans and analyzes the geometric dimensions between different materials in the assembled DVL, so as to calculate the corresponding relationship between the coordinate systems related to the installation error. Through the industrial CT scan, the vertical axes of the four transducers and the DVL coordinate system are re-measured. The installation error between the two is compensated in the program software. Due to the high parallelism between the SINS installation surface and the DVL installation surface, the installation error of the roll angle and pitch angle between the two is ignored; Step 3: Compensate the calibration result , The present invention adopts a transducer-based installation error compensation scheme, and on the premise of ensuring the advantages of the Janus configuration, the precise compensation of the installation error is realized.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to a structural compensation method for installation errors of a SINS / DVL integrated navigation system. Background technique [0002] In underwater carrier applications (all kinds of AUVs, ROVs and underwater weapons), most of the speed information of DVL is used to assist SINS to form a SINS / DVL integrated navigation system, which provides navigation control information for underwater carriers. The divergence of SINS errors can be greatly suppressed under the condition that the DVL can provide the speed over the ground (bottom working mode). Therefore, the SINS / DVL combination is almost the standard navigation configuration for underwater carriers equipped with medium (positioning accuracy 1nm / h) and below precision inertial navigation equipment. [0003] The traditional way of using SINS and DVL in underwater carriers is to install them independently. In order to a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 王彦国夏雨何春海宫京王海鹏
Owner TIANJIN NAVIGATION INSTR RES INST