Unlock instant, AI-driven research and patent intelligence for your innovation.

SINS and DVL calibration method and system based on Rodrigues matrix

A calibration method and matrix technology, applied to measuring devices, instruments, navigation through speed/acceleration measurement, etc., can solve the problems that the linearization error cannot be completely eliminated, and achieve the effect of eliminating the linearization error

Pending Publication Date: 2022-04-08
HEBEI HANGUANG HEAVY IND
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the commonly used installation deviation estimation methods include the Kalman filter method and the least squares method. Both methods set the installation deviation matrix to a small angle to approximate linearization to meet the requirements of linear estimation. These methods inevitably introduce Linearization error, through multiple iterations, can only minimize the linearization error, but it requires a lot of iteration time, and cannot completely eliminate the linearization error caused by approximate linearization, and the installation angle can only be limited to a small angle

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • SINS and DVL calibration method and system based on Rodrigues matrix
  • SINS and DVL calibration method and system based on Rodrigues matrix
  • SINS and DVL calibration method and system based on Rodrigues matrix

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0029] The implementation of the present invention will be described in detail below in conjunction with the accompanying drawings and examples, so that how the present invention uses technical means to solve technical problems and achieve the corresponding technical effects can be fully understood and implemented accordingly. The embodiments of the present application and the various features in the embodiments can be combined with each other under the premise of not conflicting, and the technical solutions formed are all within the protection scope of the present invention.

[0030] Additionally, the steps shown in the flowcharts of the figures may be implemented in a computer, such as a set of computer-executable instructions. Also, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0031] figure 1 Shown is a flow chart of a Rodrigue matrix-based SINS ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to an SINS (Strapdown Inertial Navigation System) and DVL (Digital Video Library) calibration method and system based on a Rodrigue matrix. The method comprises the following steps: constructing an installation deviation attitude Rodrigue matrix R of an SINS and a DVL; obtaining a speed Vb under the SINS system based on the installation deviation attitude Rodrigues matrix R and the measured to-bottom speed Vd under the DVL coordinate system; establishing a least square estimation model of the installation deviation attitude Rodrigues matrix R based on the bottom velocity Vd under the DVL coordinate system and the velocity Vb under the SINS system; and estimating matrix parameters of the installation deviation attitude Rodrigues matrix R according to the least square estimation model, calculating the installation deviation angle based on the matrix parameters and the installation deviation attitude Rodrigues matrix R, and calibrating the SINS and DVL system according to the installation deviation angle. And the linearization error caused by approximate linearization and the limitation that the installation angle can only be a small angle can be eliminated.

Description

technical field [0001] The invention belongs to the technical field of underwater navigation installation deviation calibration, and in particular relates to a Rodrigue matrix-based SINS and DVL calibration method and system. Background technique [0002] At present, the relatively mature underwater navigation method that is widely used is the combination of the Doppler log (DVL) that uses the Doppler effect of sound waves to measure speed and the inertial navigation system (INS) based on the second law of Newtonian mechanics. Navigation System. There is an installation deviation angle between DVL and SINS, and the calibration accuracy of the installation deviation angle is an important factor affecting the accuracy of underwater integrated navigation. At present, the commonly used installation deviation estimation methods include the Kalman filter method and the least squares method. Both methods set the installation deviation matrix to a small angle to approximate lineari...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01C21/16G01C25/00G01C21/20
Inventor 王奥迪可伟王宁马西保
Owner HEBEI HANGUANG HEAVY IND