An acoustic doppler velocity information solving method and system

Abstract

The application discloses an acoustic Doppler velocity information solving method and system, and relates to the technical fields of integrated navigation and underwater acoustic positioning. The application is used to solve the problem that the existing DVL velocity solving method has errors in the solved velocity and is not orthogonal, thereby leading to low navigation precision. The application comprises the following steps: acquiring eight beam angles alpha L , theta i of DVL four-beam in a carrier coordinate system by using the navigation information output by the integrated SINS / GPS and the radial velocity information V i of the DVL four-beam; obtaining the instantaneous mass estimation parameters of the four velocity measuring beam output velocities by using the echo acoustic signals collected by the DVL four-beam; and acquiring the three-dimensional velocity information output by the DVL by using the eight beam angles alpha i , theta i of the DVL four-beam in the carrier coordinate system and the instantaneous mass estimation parameters of the four velocity measuring beam output velocities. The application is used for DVL velocity solving.

Description

Technical Field

[0001] This invention relates to the field of integrated navigation and underwater acoustic positioning technology, and in particular to a method and system for calculating acoustic Doppler velocity information. Background Technology

[0002] DVL (Device Velocity Measurement) is one of the most commonly used sensors in underwater navigation, and the accuracy of its output velocity determines the navigation accuracy. With the further development of marine resources, the accuracy requirements for underwater operations are gradually increasing, placing higher demands on the velocity measurement accuracy of DVL. Therefore, in complex underwater environments, it is necessary to further consider the impact of different beam velocity measurement qualities and beam angle errors on navigation accuracy.

[0003] Traditional DVL velocity calculation methods obtain the three-dimensional velocity output by the projection relationship of the radial beam onto the DVL coordinate system. During the projection calculation process, the DVL beam angle error caused by machining or installation is ignored, resulting in an error in the transformation matrix from radial velocity to the array-based three-dimensional velocity, leading to non-orthogonality of the calculated three-dimensional velocity vector. Furthermore, the differences in velocimetry quality between different beams are not addressed, causing errors in the magnitude of the calculated three-dimensional velocity vector. These factors introduce errors into subsequent navigation, reducing 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 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, which in turn leads to low navigation accuracy. Therefore, the current DVL velocity solution method still has the problems of low solution accuracy and non-orthogonality of the solved velocity leading to low navigation accuracy. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that existing DVL velocity calculation methods have errors in the calculated velocities and are not orthogonal, which leads to low navigation accuracy. Therefore, this invention proposes an acoustic Doppler velocity information calculation method and system.

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

[0006] Step 1: Utilize the navigation information output after SINS / GPS combination with the DVL four-beam radial velocity information V LObtain the eight beam angles α of the DVL four beams in the carrier coordinate system. i θ i ;

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

[0008] Step 2: Obtain the instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams using the echo signals acquired by the four beams of the DVL.

[0009] Step 3: Utilize the eight beam angles α of the DVL four-beam system obtained in Step 1. i θ i The instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams obtained in step two. Obtain the three-dimensional velocity information output by DVL.

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

[0011] The DVL four-beam beam angle acquisition module utilizes the navigation information output after the SINS / GPS combination and the DVL four-beam radial velocity information V L Obtain the eight beam angles α of the DVL four beams in the carrier coordinate system. i θ i ;

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

[0013] The instantaneous quality estimation parameter acquisition module for velocity uses the echo signals acquired by the four beams of the DVL (Digital Velocity Measurement) system to obtain the instantaneous quality estimation parameters of the output velocity from the four velocity measurement beams.

[0014] The three-dimensional velocity information acquisition module utilizes eight beam angles α in the DVL four-beam system. iθ i Instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams Obtain the three-dimensional velocity information output by DVL.

[0015] The beneficial effects of this invention are as follows:

[0016] This invention utilizes the beam angle information of DVL (Diffuse Vibration Array) to obtain the transformation matrix A from three-dimensional orthogonal velocity to four-dimensional radial velocity. Based on the instantaneous quality estimation parameters of each DVL beam output, it obtains the radial velocity weighting coefficient matrix C. Using the DVL radial velocity as input, it outputs the corrected three-dimensional orthogonal velocity information of DVL through the least squares method. Compared to traditional velocity calculation methods, this invention can correct the velocity measurement errors caused by differences in DVL beam velocity measurement quality and beam angle errors. Furthermore, by correcting the beam angle error, it ensures the orthogonality of the calculated three-dimensional velocity vector, avoiding the introduction of errors in subsequent navigation and thus improving navigation accuracy. Attached Figure Description

[0017] Figure 1 This is a flowchart of the present invention. Detailed Implementation

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

[0019] Step 1: Utilize the navigation information output after SINS / GPS combination with the DVL four-beam radial velocity information V L Obtain the eight beam angles α of the DVL four beams in the carrier coordinate system. i θ i ;

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

[0021] The carrier coordinate system has the carrier's center of gravity as its origin, with the x-axis pointing to the right side of the carrier along the carrier's deck plane, the y-axis pointing towards the bow of the carrier along the deck, and the z-axis perpendicular to the deck pointing towards the sky.

[0022] Step one is implemented using CN202310133795.2, a radial beam angle correction method for acoustic Doppler velocimetry.

[0023] Step 2: Obtain the instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams using the echo signals acquired by the four beams of the DVL.

[0024] Step two is implemented using CN202211362974.5, a method for evaluating the quality of acoustic Doppler instantaneous velocities.

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

[0026] Step 3: Utilize the eight beam angles α of the DVL four-beam system obtained in Step 1. i θ i The instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams obtained in step two. To obtain 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] Where A is the velocity transformation matrix, C is the weighting coefficient matrix, and V m =[v x v y v z ] T It is the three-dimensional velocity output by DVL, v x It is the x-direction velocity output by DVL, v y It is the y-direction velocity output by DVL, v z It is the z-direction velocity output by DVL, A T Let C be the transpose of A. -1 Let C be the inverse matrix.

[0030] Specific Implementation Method 2: An acoustic Doppler velocity information calculation system, comprising: a DVL four-beam beam angle acquisition module, an instantaneous quality estimation parameter acquisition module for velocity, and a three-dimensional velocity information acquisition module;

[0031] The DVL four-beam beam angle acquisition module utilizes the navigation information output after the SINS / GPS combination and the DVL four-beam radial velocity information V L Obtain the eight beam angles α of the DVL four beams in the carrier coordinate system. i θ i ;

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

[0033] The carrier coordinate system has the carrier's center of gravity as its origin, with the x-axis pointing to the right side of the carrier along the carrier's deck plane, the y-axis pointing towards the bow of the carrier along the deck, and the z-axis perpendicular to the deck pointing towards the sky.

[0034] The DVL four-beam beam angle acquisition module is implemented using an acoustic Doppler velocimetry radial beam angle correction method.

[0035] The instantaneous quality estimation parameter acquisition module for velocity uses the echo signals acquired by the four beams of the DVL (Digital Velocity Measurement) system to obtain the instantaneous quality estimation parameters of the output velocity from the four velocity measurement beams.

[0036] The instantaneous quality estimation parameter acquisition module for the velocity is implemented using an acoustic Doppler instantaneous velocity measurement quality evaluation method.

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

[0038] The three-dimensional velocity information acquisition module utilizes eight beam angles α in the DVL four-beam system. i θ i Instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams Obtain the three-dimensional velocity information of the corrected DVL output, specifically:

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

[0040]

[0041] Where A is the velocity transformation matrix, C is the weighting coefficient matrix, and V m =[v x v y v z ] T It is the three-dimensional velocity output by DVL, v x It is the x-direction velocity output by DVL, vy It is the y-direction velocity output by DVL, v z It is the z-direction velocity output by DVL, A T Let C be the transpose of A. -1 Let C be the inverse matrix.

Claims

1. A method for calculating acoustic Doppler velocity information, characterized in that... The specific process of the method is as follows: Step 1: Utilize the navigation information output after SINS / GPS combination with DVL four-beam radial velocity information Obtain the eight beam angles of the DVL four-beam configuration in the carrier coordinate system. , ; in, The radial velocity matrix is ​​the output of the four beams in the DVL. =1, 2, 3, 4 represent beam numbers. For beam The angle between the coordinate system and the yoz plane of the carrier coordinate system, For beam The angle between the xoy plane and the carrier coordinate system; Step 2: Obtain the instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams using the echo signals acquired by the four beams of the DVL. ; Step 3: Utilize the eight beam angles of the DVL four-beam system obtained in Step 1. , The instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams obtained in step two. To obtain the three-dimensional velocity information output by DVL, specifically: in, It is a velocity transformation matrix. It is a weight coefficient matrix. It is the three-dimensional velocity output by DVL. It is the x-direction velocity output by DVL. It is the y-direction velocity output by DVL. It is the z-direction velocity output by DVL. express The transpose of the matrix, express The inverse matrix.

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

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

4. An acoustic Doppler velocity measurement information processing system, characterized in that: The 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; The DVL four-beam beam angle acquisition module utilizes the navigation information output after the SINS / GPS combination and the DVL four-beam radial velocity information. Obtain the eight beam angles of the DVL four-beam configuration in the carrier coordinate system. , ; in, The radial velocity matrix is ​​the output of the four beams in the DVL. =1, 2, 3, 4 represent beam numbers. For beam The angle between the coordinate system and the yoz plane of the carrier coordinate system, For beam The angle between the xoy plane and the carrier coordinate system; The instantaneous quality estimation parameter acquisition module for velocity uses the echo signals acquired by the four beams of the DVL (Digital Velocity Measurement) system to obtain the instantaneous quality estimation parameters of the output velocity from the four velocity measurement beams. ; The three-dimensional velocity information acquisition module utilizes eight beam angles in the DVL four-beam system. , Instantaneous quality estimation parameters of the output velocities of the four velocity measurement beams To obtain the three-dimensional velocity information output by DVL, specifically: in, It is a velocity transformation matrix. It is the weight coefficient matrix. It is the three-dimensional velocity output by DVL. It is the x-direction velocity output by DVL. It is the y-direction velocity output by DVL. It is the z-direction velocity output by DVL. express The transpose of the matrix, express The inverse matrix.

5. The acoustic Doppler velocity measurement information processing system according to claim 4, characterized in that: The DVL four-beam beam angle acquisition module is implemented using an acoustic Doppler velocimetry radial beam angle correction method.

6. The acoustic Doppler velocity information processing system according to claim 5, characterized in that: The instantaneous quality estimation parameter acquisition module for the velocity is implemented using an acoustic Doppler instantaneous velocity measurement quality evaluation method.

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