Acoustic Doppler velocity measurement information resolving method and system

Abstract

The invention discloses an acoustic Doppler velocity measurement information resolving method and system, and relates to the technical field of integrated navigation and underwater acoustic positioning. The invention aims to solve the problem of low subsequent navigation precision caused by errors and non-orthogonality of the calculated speed in the existing DVL speed calculation method. The method comprises the following steps: acquiring eight beam angles alpha i and theta i of DVL four beams in a carrier coordinate system by using navigation information output after SINS / GPS combination and DVL four-beam radial speed information VL; echo sound signals acquired by four beams of the DVL are utilized to acquire instantaneous quality estimation parameters # imgabs0 # of output speeds of the four speed measurement beams, and three-dimensional speed information output by the DVL is acquired by utilizing eight beam angles alpha i and theta i of the four beams of the DVL in a carrier system and the instantaneous quality estimation parameters # imgabs1 # of the output speeds of the four speed measurement beams. The method is used for DVL speed measurement resolving.

Description

Technical Field

[0001] The invention relates to the technical field of integrated navigation and underwater acoustic positioning, and in particular to an acoustic Doppler velocity measurement information solution method and system. Background Art

[0002] DVL is one of the most commonly used sensors in underwater navigation. The accuracy of its output speed determines the navigation accuracy. With the further development of marine resources, the accuracy requirements for underwater operations are gradually increasing, and higher requirements are also placed on the speed measurement accuracy of DVL. Therefore, in complex underwater environments, it is necessary to further consider the impact of different beam speed measurement quality and beam angle errors on navigation accuracy.

[0003] The traditional DVL velocity solution method obtains the three-dimensional velocity of the DVL output through the projection relationship of the radial beam in the DVL coordinate system. In the process of projection solution, the DVL beam angle error caused by machining or installation is ignored, which causes errors in the conversion matrix from radial velocity to three-dimensional velocity of the array system, resulting in non-orthogonal three-dimensional velocity vectors obtained by solution; the difference in the quality of velocity measurement of different beams is not processed, resulting in errors in the size of the three-dimensional velocity vector obtained by solution, causing the traditional velocity solution method to introduce errors in subsequent navigation and reduce navigation accuracy. References (Gilcoto M, Jones E, -Busto L. Robust estimations of current velocities with four-beambroadband ADCPs[J]. Journal of Atmospheric and Oceanic Technology, 2009, 26(12): 2642-2654.) By estimating the velocity measurement quality of different beams, and solving the three-dimensional velocity output by DVL based on the least squares method, this method also does not consider the error of the beam angle, resulting in non-orthogonality of the output velocity, and thus low subsequent navigation accuracy. Therefore, the current DVL velocity solution method still has the problem of low solution accuracy and low subsequent navigation accuracy due to the non-orthogonality of the solved velocity. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the existing DVL velocity solution method still has errors in the solved velocity and is non-orthogonal, resulting in low subsequent navigation accuracy, and proposes an acoustic Doppler velocity measurement information solution method and system.

[0005] A method for calculating acoustic Doppler velocity information is as follows:

[0006] Step 1: Use the navigation information output by SINS / GPS combination and DVL four-beam radial velocity information V LGet the eight beam angles α of the DVL four-beam in the carrier coordinate system i ,θ i ;

[0007] Among them, V L =[v1 v2 v3 v4] T is the radial velocity matrix of the four beam outputs of DVL; i = 1, 2, 3, 4 represents the beam number, α i is the angle between beam i and the yoz plane of the carrier coordinate system, θ i is the angle between beam i and the xoy plane of the carrier coordinate system;

[0008] Step 2: Use the echo sound signals collected by the four DVL beams to obtain the instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams.

[0009] Step 3: Use the eight beam angles α of the DVL four-beam system obtained in step 1 i ,θ i And the instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams obtained in step 2 Get the 3D velocity information output by DVL.

[0010] An acoustic Doppler velocity measurement information solution system includes: a DVL four-beam beam angle acquisition module, a velocity instantaneous quality estimation parameter acquisition module, and a three-dimensional velocity information acquisition module;

[0011] The DVL four-beam beam angle acquisition module uses the navigation information output by the SINS / GPS combination and the DVL four-beam radial velocity information V L Get the eight beam angles α of the DVL four-beam in the carrier coordinate system i ,θ i ;

[0012] Among them, V L =[v1 v2 v3 v4] T is the radial velocity matrix of the four beam outputs of DVL; i = 1, 2, 3, 4 represents the beam number, α i is the angle between beam i and the yoz plane of the carrier coordinate system, θ i is the angle between beam i and the xoy plane of the carrier coordinate system;

[0013] The instantaneous quality estimation parameter acquisition module of the speed obtains the instantaneous quality estimation parameters of the output speeds of the four speed measurement beams by using the echo sound signals collected by the four DVL beams.

[0014] The three-dimensional velocity information acquisition module uses eight beam angles α of the DVL four-beam in the carrier system. i,θ i and the instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams Get the 3D velocity information output by DVL.

[0015] The beneficial effects of the present invention are:

[0016] The present invention uses the DVL beam angle information to obtain the conversion matrix A from three-dimensional orthogonal velocity to four-dimensional radial velocity, obtains the radial velocity weight coefficient matrix C based on the instantaneous quality estimation parameters output by each DVL beam, takes the DVL radial velocity as input, and outputs the corrected DVL three-dimensional orthogonal velocity information through the least square method. Compared with the traditional velocity solution method, the method of the present invention can correct the velocity measurement error caused by the DVL beam velocity measurement quality difference and the beam angle error, and corrects the beam angle error, ensuring the orthogonality of the three-dimensional velocity vector output by the solution, avoiding the introduction of errors in subsequent navigation, thereby improving the navigation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0018] Specific implementation method 1: Figure 1 As shown, the specific process of a method for calculating acoustic Doppler velocity measurement information in this embodiment is as follows:

[0019] Step 1: Use the navigation information output by SINS / GPS combination and DVL four-beam radial velocity information V L Get the eight beam angles α of the DVL four-beam in the carrier coordinate system i ,θ i ;

[0020] Among them, V L =[v1 v2 v3 v4] T is the radial velocity matrix of the four beam outputs of DVL; i = 1, 2, 3, 4 represents the beam number, α i is the angle between beam i and the yoz plane of the carrier coordinate system, θ i is the angle between beam i and the xoy plane of the carrier coordinate system.

[0021] The carrier coordinate system takes the carrier center of gravity as the origin, the x-axis points to the right side of the carrier along the carrier deck plane, the y-axis points to the bow of the carrier along the deck, and the z-axis points to the sky perpendicular to the deck.

[0022] The step 1 is implemented using an acoustic Doppler velocity measurement radial beam angle correction method according to CN202310133795.2.

[0023] Step 2: Use the echo sound signals collected by the four DVL beams to obtain the instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams.

[0024] The step 2 is implemented using an acoustic Doppler instantaneous velocity measurement quality evaluation method in CN202211362974.5.

[0025] The quality estimation parameters is the second-order variance of the output radial velocity of beam i.

[0026] Step 3: Use the eight beam angles α of the DVL four-beam system obtained in step 1 i ,θ i And the instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams obtained in step 2 Get the three-dimensional velocity information output by DVL, specifically:

[0027] V m =(A T C -1 A) -1 A T C -1 V L

[0028]

[0029] Among them, A is the velocity conversion matrix, C is the weight coefficient matrix, V m =[v x v y v z ] T is the three-dimensional velocity output by DVL, v x is the x-direction velocity output by the DVL, v y is the y-direction velocity output by the DVL, v z is the z-direction velocity output by the DVL, A T represents the transposed matrix of A, C -1 Represents the inverse matrix of C.

[0030] Specific implementation method 2: An acoustic Doppler velocity measurement information solution system, comprising: a DVL four-beam beam angle acquisition module, a velocity instantaneous quality estimation parameter acquisition module, and a three-dimensional velocity information acquisition module;

[0031] The DVL four-beam beam angle acquisition module uses the navigation information output by the SINS / GPS combination and the DVL four-beam radial velocity information V L Get the eight beam angles α of the DVL four-beam in the carrier coordinate system i ,θ i ;

[0032] Among them, V L =[v1 v2 v3 v4] T is the radial velocity matrix of the four beam outputs of DVL; i = 1, 2, 3, 4 represents the beam number, α i is the angle between beam i and the yoz plane of the carrier coordinate system, θ i is the angle between beam i and the xoy plane of the carrier coordinate system.

[0033] The carrier coordinate system takes the carrier center of gravity as the origin, the x-axis points to the right side of the carrier along the carrier deck plane, the y-axis points to the bow of the carrier along the deck, and the z-axis points to the sky perpendicular to the deck.

[0034] The DVL four-beam beam angle acquisition module is implemented by adopting an acoustic Doppler velocity measurement radial beam angle correction method.

[0035] The instantaneous quality estimation parameter acquisition module of the speed obtains the instantaneous quality estimation parameters of the output speeds of the four speed measurement beams by using the echo sound signals collected by the four DVL beams.

[0036] The instantaneous quality estimation parameter acquisition module of the speed is implemented by adopting an acoustic Doppler instantaneous speed measurement quality evaluation method.

[0037] The quality estimation parameters is the second-order variance of the output radial velocity of beam i.

[0038] The three-dimensional velocity information acquisition module uses eight beam angles α of the DVL four-beam in the carrier system. i ,θ i and the instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams Get the three-dimensional velocity information output by the corrected DVL, specifically:

[0039] V m =(A T C -1 A) -1 A T C -1 V L

[0040]

[0041] Among them, A is the velocity conversion matrix, C is the weight coefficient matrix, V m =[v x v y v z ] T is the three-dimensional velocity output by DVL, v x is the x-direction velocity output by the DVL, vy is the y-direction velocity output by the DVL, v z is the z-direction velocity output by the DVL, A T represents the transposed matrix of A, C -1 Represents the inverse matrix of C.

Claims

1. A method for calculating acoustic Doppler velocity information, characterized in that The specific process of the method is: Step 1: Use the navigation information output by SINS / GPS combination and DVL four-beam radial velocity information V L Get the eight beam angles α of the DVL four-beam in the carrier coordinate system i ,θ i ; Among them, V L =[v1v2v3v4] T is the radial velocity matrix of the four beam outputs of DVL; i = 1, 2, 3, 4 represents the beam number, α i is the angle between beam i and the yoz plane of the carrier coordinate system, θ i is the angle between beam i and the xoy plane of the carrier coordinate system; Step 2: Use the echo sound signals collected by the four DVL beams to obtain the instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams. Step 3: Use the eight beam angles α of the DVL four-beam system obtained in step 1 i ,θ i And the instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams obtained in step 2 Get the 3D velocity information output by DVL.

2. The method for calculating acoustic Doppler velocity information according to claim 1, characterized in that: The step 1 is implemented by using an acoustic Doppler velocity measurement radial beam angle correction method.

3. The method for calculating acoustic Doppler velocity information according to claim 2, characterized in that: The step 2 is implemented by using an acoustic Doppler instantaneous velocity measurement quality evaluation method.

4. The method for calculating acoustic Doppler velocity information according to claim 3, characterized in that: The three-dimensional velocity information output by the DVL in step 3 is specifically: In m =(A T C -1 a) -1 And T C -1 In L Among them, A is the velocity conversion matrix, C is the weight coefficient matrix, V m =[v x v y v z ] T is the three-dimensional velocity output by DVL, v x is the x-direction velocity output by the DVL, v y is the y-direction velocity output by the DVL, v z is the z-direction velocity output by the DVL, A T represents the transposed matrix of A, C -1 Represents the inverse matrix of C.

5. The method for calculating acoustic Doppler velocity information according to claim 4, characterized in that: The speed conversion matrix is ​​specifically:

6. The method for calculating acoustic Doppler velocity information according to claim 5, characterized in that: The weight coefficient matrix is ​​specifically:

7. An acoustic Doppler velocity measurement information solution system, characterized in that: The system comprises: a DVL four-beam beam angle acquisition module, a velocity instantaneous quality estimation parameter acquisition module, and a three-dimensional velocity information acquisition module; The DVL four-beam beam angle acquisition module uses the navigation information output by the SINS / GPS combination and the DVL four-beam radial velocity information V L Get the eight beam angles α of the DVL four-beam in the carrier coordinate system i ,θ i ; Among them, V L =[v1v2v3v4] T is the radial velocity matrix of the four beam outputs of DVL; i = 1, 2, 3, 4 represents the beam number, α i is the angle between beam i and the yoz plane of the carrier coordinate system, θ i is the angle between beam i and the xoy plane of the carrier coordinate system; The instantaneous quality estimation parameter acquisition module of the speed obtains the instantaneous quality estimation parameters of the output speeds of the four speed measurement beams by using the echo sound signals collected by the four DVL beams. The three-dimensional velocity information acquisition module uses eight beam angles α of the DVL four-beam in the carrier system. i ,θ i and the instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams Get the 3D velocity information output by DVL.

8. The acoustic Doppler velocity measurement information calculation system according to claim 7, characterized in that: The DVL four-beam beam angle acquisition module is implemented by adopting an acoustic Doppler velocity measurement radial beam angle correction method.

9. The acoustic Doppler velocity measurement information calculation system according to claim 8, characterized in that: The instantaneous quality estimation parameter acquisition module of the speed is implemented by adopting an acoustic Doppler instantaneous speed measurement quality evaluation method.

10. The acoustic Doppler velocity measurement information calculation system according to claim 9, characterized in that: The three-dimensional velocity information acquisition module uses eight beam angles α of the DVL four-beam in the carrier system. i ,θ i and the instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams Get the three-dimensional velocity information output by DVL, specifically: Among them, A is the velocity conversion matrix, C is the weight coefficient matrix, V m =[v x v y v z ] T is the three-dimensional velocity output by DVL, v x is the x-direction velocity output by the DVL, v y is the y-direction velocity output by the DVL, v z is the z-direction velocity output by the DVL, A T represents the transposed matrix of A, C -1 Represents the inverse matrix of C.

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