USBL slope distance correction method based on maximum entropy adaptive robust estimation
A robust estimation and self-adaptive technology, applied in navigation computing tools, measuring devices, instruments, etc., can solve problems such as large abnormal noise and low USBL update frequency, and achieve the effect of suppressing the impact
Pending Publication Date: 2022-04-05
SOUTHEAST UNIV
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Problems solved by technology
Due to the low update frequency of USBL, when there is a radial velocity between the sending and receiving of the message, the traditional slant distance calculation method will introduce a large error
Moreover, due to the complexity of the underwater environment and the interference of underwater acoustic multipath and other factors, the measurement of USBL usually contains large abnormal noise
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[0120] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:
[0121] The present invention proposes a USBL slant range correction method based on maximum entropy self-adaptive robustness estimation, uses the attitude and position measured by the strapdown inertial navigation system (SINS) to establish a change model between USBL transmission and reception times, and derives the reception time slant distance correction value. Finally, in order to suppress the impact of abnormal noise on the positioning accuracy
[0122] A USBL slant distance correction method based on maximum entropy adaptive robustness estimation, in which the schematic diagram of USBL sending and receiving messages is as follows figure 1 As shown, the recursive schematic diagram of SINS position information is as follows figure 2 As shown, the schematic diagram of the USBL slant range correction method based on maximum entropy adaptive...
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A USBL slant distance correction method based on maximum entropy self-adaptive robust estimation comprises the steps of (1) recording an SINS attitude transfer matrix, speed and position information at the moment when a USBL sends a request message, (2) recording an azimuth angle at the moment when the USBL receives a transponder message and SINS attitude, speed and position information, and (3) correcting the slant distance of the USBL according to the calculation result of the SINS at the sending moment and the receiving moment. The method comprises the following steps: 1) acquiring a USBL slant distance, 2) acquiring an azimuth angle, an elevation angle and SINS calculation information, 4) establishing an SINS / USBL tight combination system model according to the USBL slant distance corrected in the step 3) and the azimuth angle, the elevation angle and the SINS calculation information acquired in the step 2), 5) calculating a dynamic model error adaptive factor and calculating a gain matrix according to a maximum entropy principle, and 6) carrying out Kalman filtering fusion on the model in the step 5), carrying out feedback correction on the SINS and outputting a navigation result. And repeating the steps until the navigation is finished, establishing a change model between the USBL transmitting moment and the USBL receiving moment by using the attitude and the position measured by the strapdown inertial navigation system, and deducing a slant distance correction value at the receiving moment. And finally, the influence of abnormal noise on the positioning precision is suppressed.
Description
technical field [0001] The invention relates to a SINS / USBL integrated navigation technology for an underwater vehicle, in particular to a USBL slant distance correction method based on maximum entropy self-adaptive robustness estimation. Background technique [0002] The SINS / USBL integrated navigation system is one of the main ways to realize high-precision navigation and positioning of underwater AUVs. Due to the low update frequency of the USBL, when there is a radial velocity between the sending and receiving of the message, the traditional slant distance calculation method will introduce a large error. Moreover, due to the complexity of the underwater environment and the interference of underwater acoustic multipath and other factors, the measurement of USBL usually contains large abnormal noise. Contents of the invention [0003] In order to solve the problems existing in the prior art, the present invention proposes a USBL slant range correction method based on ma...
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IPC IPC(8): G01C21/20G01C21/16G01S5/18
Inventor 张涛刘射德张亮夏茂栋
Owner SOUTHEAST UNIV