Inertial/ultrashort baseline multi-parameter calibration method based on imm-ukf
A technology of ultra-short baseline and calibration method, applied in satellite radio beacon positioning system, radio wave measurement system, navigation through velocity/acceleration measurement and other directions, can solve the problem of high computational complexity, low adaptability and robustness, It is impossible to estimate the position of the transponder at the same time, such as the installation error angle of SINS/USBL, so as to improve the estimation efficiency and enhance the robustness of the calibration.
Active Publication Date: 2022-08-02
SOUTHEAST UNIV
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The existing calibration technology uses an iterative algorithm, which has high computational complexity, low adaptability and robustness in complex underwater environments, and cannot simultaneously estimate the transponder position, SINS / USBL lever arm, and SINS / USBL installation error angle
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[0083] The technical solutions of the present invention will be further described below with reference to the accompanying drawings. It should be understood that the embodiments provided below are only to disclose the present invention in detail and completely, and to fully convey the technical idea of the present invention to those skilled in the art, and the present invention can also be implemented in many different forms, and does not Limited to the embodiments described here. The terms used in the exemplary embodiments shown in the drawings are not intended to limit the invention.
[0084] The invention provides an inertial / ultra-short baseline multi-parameter calibration method based on IMM-UKF, the realization principle is as follows figure 1 shown.
[0085] The process mainly includes the following steps:
[0086] In step S1, a projection coordinate system is established with an arbitrary point in space as the origin. On this basis, an inertial system, an ultra-sh...
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The invention discloses an inertial / ultra-short baseline multi-parameter calibration method based on IMM-UKF. The specific steps include: establishing a projection coordinate system with an arbitrary point in space as an origin, and establishing inertia, ultra-short baseline, satellite positioning, The vector relationship and azimuth expression between the positions and attitudes of each sensor of the depth gauge, select the 9-dimensional parameter to be estimated as the state quantity, and construct the system and observation model; set the initial probability of each model in the IMM and calculate the initial state and covariance matrix of each filter ; According to the system and observation model, three UKFs are used for filtering respectively, and the model is updated by the Bayesian hypothesis testing method; the interaction is output according to the weight, and the final filtering result is output. Compared with the existing inertial / ultra-short baseline calibration method, the invention can realize simultaneous calibration of 9-dimensional parameters of the position of the transponder, the inertia / ultra-short baseline lever arm and the installation error angle, and effectively improve the inertia / ultra-short baseline calibration in complex environments. Convergence speed, accuracy and robustness of parameters.
Description
technical field [0001] The invention is an inertial / ultra-short baseline multi-parameter calibration method based on IMM-UKF, belongs to the integrated navigation calibration technology, and is especially suitable for the field of underwater integrated navigation. Background technique [0002] In the field of underwater integrated navigation, SINS (ie: Strapdown Inertial Navigation System) is widely used due to its high degree of autonomy and anti-interference, but its errors accumulate over time. USBL (ie: Ultra-Short Baseline Positioning System) has simplicity, flexibility and high adaptability, especially when GNSS (ie: Global Navigation Satellite System) data is not available, it can provide absolute position information for underwater vehicles. Integrated navigation based on SINS / USBL is one of the development directions of future underwater integrated navigation. In the SINS / USBL system, the installation error angle and the lever arm error will affect the positioning ...
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IPC IPC(8): G01C21/16G01C25/00G01S19/47G01S19/40
CPCG01C21/165G01C25/00G01S19/47G01S19/40
Inventor 姚逸卿侯岚华徐晓苏王迪
Owner SOUTHEAST UNIV