DVL calibration method for ignoring horizontal attitude of AUV integrated navigation system

Abstract

The invention discloses a DVL calibration method for ignoring a horizontal attitude of an AUV integrated navigation system, which comprises the following steps: issuing a starting point calibration instruction to inertial navigation at the starting point of a linear calibration leg; after inertial navigation receives a starting point calibration instruction, taking the current GPS latitude and longitude as a ship position reckoning starting point and starting ship position reckoning based on the INS attitude and the DVL speed; continuously recording n groups (n is greater than or equal to 1) of GPS longitudes and latitudes and synchronous data of the longitudes and latitudes calculated by ship positions; straight sailing for m kilometers, and performing ship position calculation in the whole course; when the terminal point of the linear calibration leg is reached, issuing a terminal point calibration instruction to inertial navigation; continuously recording n groups of GPS longitudes and latitudes and synchronous data of the longitudes and latitudes calculated by the ship position after the inertial navigation receives an end point calibration instruction; calculating n groups of DVL calibration parameters, respectively carrying out median averaging to obtain final DVL calibration parameters, and writing a calibration result into FLASH; the inertial navigation uses the DVL calibration parameters to correct the DVL speed in real time, and the corrected DVL speed is used as speed measurement for combined navigation.

Description

technical field [0001] The invention relates to the technical field of underwater integrated navigation, in particular to a DVL (Doppler log) calibration method in which the horizontal attitude is ignored by an AUV integrated navigation system. Background technique [0002] Autonomous underwater unmanned submersible vehicle (AUV), due to its small size, low cost of use, intelligent autonomous operation, convenient guarantee and maintenance, and good concealment, is playing an important role in the field of marine development and national defense. increasingly important role. With the gradual expansion of AUV application fields, the requirements for navigation systems are getting higher and higher, and high-precision navigation and positioning capabilities with long range and long endurance are required. Because of high-precision navigation and positioning, it determines whether the AUV can safely operate and return, as well as the accuracy of underwater target positioning, ...

AI Technical Summary

Problems solved by technology

[0006] In view of this, the present invention provides a DVL calibration method in which the AUV integrated navigation system ignores the horizontal attitude, which can greatly improve the underwater navigation positioning accuracy of the AUV integrated navigation system. The FINS / DVL integrated navigation method cannot effectively reflect the original speed measurement performance of DVL and the installation relationship with INS, the calibration results are inaccurate due to the beating of a single set of GPS, and the Kalman estimation method is difficult to implement in AUV projects and the estimation results are inaccurate. Has high engineering application value

Images