Method and device for calibrating error of SINS/DVL integrated navigation system

Abstract

The invention relates to a method and a device for calibrating an error of an SINS / DVL integrated navigation system. The method comprises the following steps: modeling a nonlinear optimization function; parameters of the nonlinear optimization function comprising a scale factor error of the speed of the DVL and an azimuth installation error angle between the SINS and the DVL; and solving the nonlinear optimization function to complete calibration of the two errors. According to the method for calibrating the errors of the SINS / DVL integrated navigation system, a nonlinear optimization function is modeled by aiming at the two parameters, the nonlinear optimization function is solved by utilizing a Gauss-Newton algorithm, the two errors are accurately calibrated, and the calibration precision of the method can reach the optimal solution through comparison with an enumeration method. According to the method for calibrating the error of the SINS / DVL integrated navigation system, the precision of SINS / DVL integrated navigation can be improved, and the method has very high practical value.

Description

technical field [0001] The invention relates to the technical field of inertial navigation, in particular to a method and device for calibrating the error of a SINS / DVL integrated navigation system. Background technique [0002] In the underwater environment, GNSS signals are not available, and pure inertial navigation systems tend to diverge errors quickly, so SINS / DVL integrated navigation is a common way of underwater navigation. Among them, the installation error angle between SINS and DVL and the error of DVL scale coefficient have a great influence on the accuracy of underwater SINS / DVL integrated navigation. If these two errors can be accurately calibrated, the accuracy of SINS / DVL integrated navigation will be greatly improved. [0003] For the calibration of the SINS / DVL integrated navigation system error, there are mainly three schemes, all of which use the speed information or position information of GNSS as the true value. Scheme A uses the method of "repeated t...

AI Technical Summary

Problems solved by technology

[0003]There are mainly three schemes for the calibration of SINS / DVL integrated navigation system errors, all of which rely on the speed information or position information of GNSS as the true value, scheme A uses" The method of "repeated trial and error" is to continuously modify the error value by observing the coincidence degree of the SINS / DVL navigation trajectory and the GNSS trajectory, and finally obtain a calibration parameter with a high degree of coincidence with the GNSS trajectory. This scheme takes a long time and requires continuous testing. The updated calibration error consumes a lot of manpower, and requires the calibration personnel to have certain experience in parameter adjustment, and it is not easy to obtain the optimal calibration parameters

Scheme B uses the method of least squares, but because the motion model of the robot is not considered, the calibration accuracy will decrease, and this scheme only calibrates the installation error between SINS and DVL, and does not calibrate the DVL scaling factor, which further leads to Decrease in navigation accuracy

Scheme C calibrates the installation error and the calibration factor at the same time, but uses the gradient descent method, which may fall into a local minimum, resulting in the problem that the optimal solution cannot be found

Images