CN-115931007-B - SINS/DVL installation error angle calibration method based on optimized alignment

Abstract

The SINS/DVL installation error angle calibration method based on the optimized alignment comprises the following steps of (1) constructing an SINS/DVL combined navigation motion model comprising an installation error angle, (2) designing an installation error angle parameter optimizing objective function, and (3) designing an SINS/DVL installation error angle optimizing estimation algorithm. The invention provides an installation angle error real-time online calibration algorithm which is carried out by only depending on SINS and DVL output data, which can effectively estimate the installation error between SINS/DVL in a complex underwater environment without GNSS signals and improve the navigation performance of the combined navigation of SINS/DVL.

Inventors

• LIU XIXIANG
• YU HEBIN
• HUANG YONGJIANG
• CHEN JINJIE
• ZHAO BINGQUAN

Assignees

• 东南大学

Dates

Publication Date

20260508

Application Date

20230110

Claims (2)

1. 1. An SINS/DVL installation error angle calibration method based on optimized alignment comprises the following steps of: (1) Constructing an SINS/DVL combined navigation motion model containing an installation error angle; The SINS/DVL integrated navigation motion model including the installation error angle in the step (1) comprises the following steps: ; the above formula is obtained by a specific force equation, and the specific parameters in the formula have the following meanings: representing the mounting angle error of the DVL coordinate system to the SINS coordinate system, Representing specific force information measured by the accelerometer at line b, Representing the pose matrix from time t to time 0 under the b-series, Representing the pose matrix from time t to time 0 under the n-series, Representing a pose matrix from n-system to b-system, the velocity of the DVL coordinate system is , A vector representing the rotational angular velocity of the earth coordinate system relative to the inertial coordinate system in the carrier coordinate system, Representing the angular velocity of the carrier measured by the gyroscope in the carrier coordinate system, Representing gravity vector information, only And Unknown, all other components are obtained directly or obtained through indirect calculation, and are obtained through integral shifting, and finishing: ; the definition of the corresponding symbols in the above formula is: ; The data are further selected at equal intervals and abbreviated as: ; Through the transformation relation between the quaternion and the gesture matrix, and then by utilizing the multiplication property of the quaternion, the method comprises the following steps of: ; (2) Designing an installation error angle parameter optimizing objective function; The installation error angle parameter optimizing objective function constructed in the step (2) is that ; The parameters in the formula are as follows, , Theoretically when And (3) with When taking the true value At the same time Approaching 0 at this time And (3) with The solving problem of (2) can be converted into a parameter optimizing problem; (3) Designing an SINS/DVL installation error angle optimization estimation algorithm; The SINS/DVL installation error angle optimization estimation algorithm in the step (3) refers to an optimization alignment algorithm for solving the parameter optimization problem in the step (2).
2. 2. The SINS/DVL installation error angle calibration method based on optimal alignment according to claim 1, wherein the SINS/DVL installation error angle calibration method based on optimal alignment in step (3) comprises the following specific steps: For the current time : First step, calculate , And Value is then according to And Using them Time of day value to calculate , And ; Second, setting k=0 and estimating from a better estimate Start to Third step, calculating first and second partial derivatives , , ; Fourth step, solving the increment ; Fifth step, updating ; Step six, setting k=k+1, and turning to the step three until convergence accuracy is reached or the maximum iteration number is reached; Seventh, the initial gesture quaternion is obtained And installation angle error ; And eighth step, calculating the gesture matrix at the current moment by using the initial gesture matrix.

Description

SINS/DVL installation error angle calibration method based on optimized alignment Technical Field The invention belongs to the technical field of navigation, and particularly relates to an SINS/DVL installation error angle calibration method based on optimal alignment. Background An autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV) is an autonomous navigational platform for underwater monitoring and detection, and is widely used in the military and civilian navigation fields. SINS is an autonomous navigation system based on Newton's law of inertia, and is widely used in the field of underwater navigation. Since constant and random drift of SINS are unavoidable and they accumulate over time, other sensors are needed to assist SINS in achieving high accuracy underwater navigation. A Doppler Velocity Log (DVL) may provide carrier velocity in bottom tracking and water tracking modes without accumulating errors over time. In environments where GNSS signals are not covered underwater, DVL is a sensor that can provide useful aiding information. In engineering applications, the installation angle error is a main factor affecting the accuracy of the SINS/DVL integrated navigation system. Aiming at the estimation of the installation angle error in the underwater navigation process, the prior art is limited by the need of a third party sensor to provide accurate speed and position information or the need of a carrier specific motion track and complex motion excitation, otherwise, the calibration in the underwater navigation process cannot be realized. The prior art is as follows: CN201910447543.0, application name, a USBL installation error angle calibration method based on gesture determination, and an ultra-short baseline positioning system has important application in underwater vehicle positioning. And the installation error angle of the USBL positioning system has an important influence on the USBL positioning accuracy. The traditional calibration method has limited estimation precision on the installation error angle and has higher requirements on routes. When the SINS and the USBL are fixedly connected together in the application process, the installation error angle of the USBL is fixed, and then the calibration of the installation error angle of the USBL is completed by utilizing the concept of attitude determination. Firstly, a vector observation model based on an installation error angle matrix is established, and the method can calibrate the installation error angles of SINS and USBL in real time by constructing an observation vector and a reference vector. The method has the advantages that the method can calibrate the USBL installation error angle in real time, is simple to operate and has no specific requirement on a calibration route, and the higher the positioning precision of the USBL positioning system under the hydrophone receiving matrix coordinate system is, the higher the calibration precision of the method is. The attitude error of the SINS is corrected through a GPS position with RTK positioning precision, a vector observation model based on a USBL installation error angle matrix is constructed under the condition that the position of a transponder is obtained through LBL calculation in advance, and the USBL installation error angle is solved by utilizing an attitude determination method. In the complex underwater environment without GNSS signals, the SINS and DVL sensors are used, an SINS/DVL combined navigation motion model comprising an installation error angle is constructed, an installation error angle parameter optimizing objective function is designed, and an SINS/DVL installation error angle optimizing estimation algorithm is combined to achieve calibration of the installation error angle. Aiming at the problems, the application firstly provides an installation error angle real-time on-line calibration algorithm which is carried out by only depending on SINS and DVL output data. Disclosure of Invention In order to solve the problems, the application provides an SINS/DVL installation error angle calibration method based on optimal alignment, which aims to effectively estimate the installation error between SINS/DVL and improve the navigation performance of the KF method by only relying on two sensors of SINS and DVL in a complex underwater environment without GNSS signals. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the invention provides an SINS/DVL installation error angle calibration method based on optimized alignment, which comprises the following steps: (1) Constructing an SINS/DVL combined navigation motion model containing an installation error angle; The SINS/DVL integrated navigation motion model including the installation error angle in the step (1) comprises the following steps: the above formula is obtained by a specific force equation, and the specific parameters in the formula have the following mean