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

An integrated navigation system and horizontal attitude technology, which is applied in navigation, surveying and navigation, navigation through speed/acceleration measurement, etc., can solve problems such as ignorance, inability to effectively reflect the original speed measurement performance of DVL, and difficult estimation results of Kalman estimation method , to achieve the effect of improving positioning accuracy and high engineering application value

Pending Publication Date: 2022-05-06
宜昌测试技术研究所
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 ref

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

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0062] The invention will be described in detail below in combination with the accompanying drawings and examples.

[0063] This embodiment provides a DVL calibration method for the AUV integrated navigation system to ignore the horizontal attitude, which can greatly improve the underwater navigation and positioning accuracy of the AUV integrated navigation system. The method is simple and efficient, and is used to solve the problems that the fins / DVL integrated navigation method in the prior art can not effectively reflect the installation relationship between the original performance of the DVL and the ins, the inaccurate calibration results caused by the jumping of a single group of GPS Kalman estimation method is difficult to implement through AUV project and the estimation results are inaccurate, so it has high engineering application value.

[0064] The coordinate system is defined as follows:

[0065] B system: inertial measurement unit coordinate system (right front up);

...

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 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, ...

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): G01C25/00G01C21/16
CPCG01C25/00G01C21/165
Inventor 白龙李速吴爽
Owner 宜昌测试技术研究所
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap