Error calibration method of model-free doppler velocity log (DVL)

Abstract

The invention discloses an error calibration method of a model-free doppler velocity log (DVL). The error calibration method does not require a priori DVL error model to achieve high-precision error calibration. The error calibration method includes the following steps that during the underwater movement of an underwater vehicle (AUV), the two-dimensional horizontal velocity information and vertical velocity information of the AUV are obtained, and the horizontal measurement velocity and the vertical measurement velocity of the doppler velocity log (DVL) arranged above the AUV are obtained; ahorizontal regression predictor is constructed, and the two-dimensional horizontal velocity information is used as an output training sample, the horizontal measurement velocity of the DVL is used asan input training sample, and the horizontal regression predictor is trained to obtain a trained horizontal regression predictor; similarly, a trained vertical regression predictor is obtained; the trained horizontal regression predictor and the trained vertical regression predictor are combined to obtain a target predictor; and the DVL velocity measurement information is collected in real time tobe taken as the input of the target predictor, and then the output of the target predictor is the calibrated DVL measurement velocity.

Description

technical field [0001] The invention relates to the technical field of navigation systems, in particular to a DVL error calibration method for a model-free Doppler log. Background technique [0002] High-precision underwater navigation and positioning are the basis of all ocean development activities and marine high-tech development, and play an extremely important role in many aspects. The navigation problem of underwater autonomous vehicle AUV becomes very challenging due to the complex working environment. Since the drift error of the inertial navigation system INS is inevitable and will accumulate over time, working for a long time will cause the navigation error to exceed the mission accuracy requirements. The high-precision Doppler log DVL can provide accurate speed information, and can correct the speed error accumulation of the INS in time, thereby improving the positioning accuracy. Therefore, INS / DVL integrated navigation is currently the most widely used underwa...

AI Technical Summary

Problems solved by technology

However, in practical applications, the DVL error model usually cannot be accurately modeled, because not all error terms can be considered, and these unaccounted DVL error terms will have a very large impact on the calibration accuracy

At the same time, there is no guarantee that the installation error angle between INS and DVL is small

It can be seen that, no matter from the calibration accuracy or the reliability of the algorithm, the traditional calibration algorithm has great limitations.

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