CN106546951A - A kind of integrated navigation system and method for Stichopus japonicuss dredger - Google Patents
A kind of integrated navigation system and method for Stichopus japonicuss dredger Download PDFInfo
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- CN106546951A CN106546951A CN201610972090.XA CN201610972090A CN106546951A CN 106546951 A CN106546951 A CN 106546951A CN 201610972090 A CN201610972090 A CN 201610972090A CN 106546951 A CN106546951 A CN 106546951A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The integrated navigation system and method for a kind of Stichopus japonicuss dredger are embodiments provided, the system includes：Strapdown inertial navigation device, for obtaining the sail information of current time dredger, sail information includes：First position information and the first course information；Wireless distance finding positioner, for obtaining the second position information of current time dredger；Compass is arranged on the dredger, for obtaining the second course information of dredger described in current time；Strapdown inertial navigation device, wireless distance finding positioner and compass send sail information, second position information, the second course information to localization process server respectively；Localization process server calculates the margin of error, and is corrected the integrated navigation information that obtains according to the margin of error to sail information, and integrated navigation information is sent to strapdown inertial navigation device for the information for receiving is carried out data fusion.The embodiment of the present invention can improve the navigation accuracy of dredger.
Description
Technical field
The present embodiments relate to marine navigation technical field, and in particular to a kind of integrated navigation system of Stichopus japonicuss dredger
And method.
Background technology
With the expansion and the raising of cost of labor of aquaculture scale, aquatic products mechanized harvest is aquaculture field
Need the important subject for solving.Stichopus japonicuss are of high nutritive value because of which, obtain cultivating large area remarkable in economical benefits.At present,
Stichopus japonicuss rely primarily on diver and are manually fished for, and are limited by Stichopus japonicuss life habit, and Stichopus japonicuss results season water temperature is relatively low, and Stichopus japonicuss are fished for
When water temperature and hydraulic pressure all the body of diver is worked the mischief, also costly, the mechanized fishing of Stichopus japonicuss is labour cost
Change the important means that current Stichopus japonicuss fish for present situation.A kind of Stichopus japonicuss dredger based on self-aid navigation can be realized to Stichopus japonicuss
Automatically continuously fish for, navigation accuracy is to weigh the key index of its navigation system performance.
In prior art, general marine navigation generally adopts strap-down inertial navigation system (Strapdown
Inertial Navigation System, SINS), the characteristics of which has autonomy and passivity, can continuously provide carrier
Position, speed, the precision of navigational parameter is higher in the navigational parameter, and short time such as attitude.But, the navigation error of SINS with
Accumulated time and gradually increase, it is impossible to meet long-term and high-precision navigator fix requirement, accordingly, it would be desirable to by other navigation handss
Section is periodically corrected to SINS, to suppress which with the error of accumulated time.In prior art, it is to realize that high-precision independent formula is led
Boat, marine navigation is mostly using the integrated navigation system of SINS/GPS.GPS provides the absolute position of ship, and its site error is not
With accumulated time.GPS as assisting navigation means, for periodically being corrected to the navigational parameter of SINS.When GPS is interfered
Or gps satellite signal, when can not cover, SINS/GPS integrated navigation systems precision will be reduced rapidly.For making in regional area
For the ship of industry, it is the motility for improving navigation and positioning accuracy and application, GPS location can be substituted with wireless distance finding positioning,
Then the navigational parameter of SINS is periodically corrected, with the precision that the self-aid navigation for improving ship is positioned.But existing skill
Wireless distance finding location technology in art mainly adopts ZigBee-network, and ZigBee positioning is a kind of based on RSSI (Received
Signal Strength Indicator, received signal strength indicator) mechanism alignment system, it according to receive signal it is strong
Degree carrys out the distance between calculate node, and range accuracy is low.
Therefore, how to propose a kind of method, it is possible to increase the navigation and positioning accuracy of marine navigator, become urgently to be resolved hurrily
Problem.
The content of the invention
For defect of the prior art, the embodiment of the present invention provides a kind of integrated navigation system of Stichopus japonicuss dredger and side
Method.
On the one hand, the embodiment of the present invention provides a kind of integrated navigation system of Stichopus japonicuss dredger, including：
Strapdown inertial navigation device, wireless distance finding positioner, compass and localization process server, the strapdown
Inertial navigation unit, the wireless distance finding positioner and the compass are connected with the localization process server；
The strapdown inertial navigation device is used for the sail information for obtaining current time dredger, and the navigation is believed
Breath is sent to the localization process server, and the sail information includes：First position information and the first course information；
The wireless distance finding positioner is used for the second position information for obtaining dredger described in the current time, and will
The second position information is sent to the localization process server；
The compass is arranged on the dredger, for obtaining the second heading device of dredger described in the current time
Breath, and second course information is sent to the localization process server；
The localization process server for according to the first position information, first course information, described second
Positional information and second course information carry out data fusion, calculate the margin of error, and according to the margin of error to the boat
Row information is corrected the integrated navigation information that obtains, and the integrated navigation information is sent to strapdown inertial navigation dress
Put.
On the other hand, the embodiment of the present invention provides a kind of method of the integrated navigation of Stichopus japonicuss dredger, including：
Strapdown inertial navigation device obtain current time dredger sail information, and by the sail information send to
Localization process server, the sail information include：First position information and the first course information；
Wireless distance finding positioner obtains the second position information of the current time dredger, and by the second position
Information is sent to the localization process server；
Compass obtains the second course information of the current time dredger, and second course information is sent to institute
State localization process server；
The localization process server is according to the first position information, first course information, the second position
Information and second course information carry out data fusion, calculate the margin of error, and according to the margin of error to the navigation letter
Breath is corrected the integrated navigation information that obtains, and the integrated navigation information is sent to the strapdown inertial navigation device.
The integrated navigation system and method for Stichopus japonicuss dredger provided in an embodiment of the present invention, obtains dredger by SINS
First position information and the first course information, and second position information is obtained using wireless distance finding positioner, compass obtains the
Two course informations, carry out data fusion to getting information by localization process server, calculate the margin of error, and SINS is led
Boat information is corrected, and improves the navigation accuracy of dredger.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are these
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the integrated navigation system of Stichopus japonicuss dredger in the embodiment of the present invention；
Fig. 2 is the structural representation of the integrated navigation system of another Stichopus japonicuss dredger in the embodiment of the present invention；
Fig. 3 is the structural representation of the integrated navigation system of another Stichopus japonicuss dredger in the embodiment of the present invention；
Fig. 4 is the schematic flow sheet of two-sided bidirectional ranging method in the embodiment of the present invention；
Fig. 5 is the principle schematic of two-sided bidirectional ranging method in the embodiment of the present invention；
Fig. 6 is the model schematic of data fusion process in the embodiment of the present invention；
Fig. 7 is the schematic flow sheet of the method for the integrated navigation of Stichopus japonicuss dredger in the embodiment of the present invention.
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 is the structural representation of the integrated navigation system of Stichopus japonicuss dredger in the embodiment of the present invention, as shown in figure 1, this
The integrated navigation system of the Stichopus japonicuss dredger that inventive embodiments are provided includes：
Strapdown inertial navigation device 01, wireless distance finding positioner 02, compass 03 and localization process server 04, it is prompt
Connection formula inertial navigation unit 01, wireless distance finding positioner 02 and compass 03 are connected with localization process server 04；
Strapdown inertial navigation device 01 is used to obtaining the sail information of current time dredger, and by the sail information
Send to 04 localization process server, the sail information includes：First position information and the first course information；
Wireless distance finding positioner 02 is used to obtaining the second position information of dredger described in the current time, and by institute
State second position information to send to localization process server 04；
Compass 03 is arranged on the dredger, for obtaining the second heading device of dredger described in the current time
Breath, and second course information is sent to localization process server 04；
Localization process server 04 is for according to the first position information, first course information, the second
Confidence ceases and second course information carries out data fusion, calculates the margin of error, and according to the margin of error to the navigation
Information is corrected the integrated navigation information that obtains, and the integrated navigation information is sent to strapdown inertial navigation device 01.
Specifically, 01 (Strapdown Inertial of strapdown inertial navigation device would generally be housed on dredger
Navigation System, hereinafter referred to as SINS), SINS is resolved using the measurement device such as gyroscope therein and accelerometer
Go out the first position information and the first course information of dredger carrier, and by the first position information for getting and the first heading device
Breath is sent to localization process server 04.Wireless distance finding positioner 02 can get the dredger second confidence at same moment
Breath, and second position information is sent to localization process server 04, the compass on dredger can be measured equally
Second course information of moment dredger, and the second course information is sent to localization process server 04.Localization process is serviced
After device 04 receives first position information, the first course information, second position information and the second course information, will can receive
Information carry out data fusion.And the margin of error of the sail information that SINS gets is calculated, further according to the margin of error for calculating
Feedback compensation is carried out to the sail information of SINS, revised integrated navigation information is obtained, and by integrated navigation information send to
SINS, so that SINS carries out the renewal of navigation information to dredger.
It should be noted that the embodiment of the present invention is periodically modified to SINS navigation informations, for example：Can set
The time interval of amendment is 15 minutes, and wireless distance finding positioner 02 and compass 03 obtained the of a dredger every 15 minutes
Two positional informationes and the second course information, and send to localization process server 04, row information is entered by localization process server 04
Process and data calculate, the navigation information of SINS is modified；Can also be wireless distance finding positioner 02 and compass 03
The second position information and the second course information of dredger is obtained in real time and is sent to localization process server, localization process service
Store after 04 receive information of device, the process for entering row information every 15 minutes and data are calculated；Or 02 He of wireless distance finding positioner
Compass 03 obtains second position information and the second course information in real time but uploaded primary information, localization process service every 15 minutes
After 04 receive information of device, the process and data for entering row information is calculated, and the navigation information of SINS is modified.Certainly as needed
Can also be other methods for periodically correcting sail information, it is also possible to corrected in real time, the embodiment of the present invention is not made specifically
Limit.
The integrated navigation system of Stichopus japonicuss dredger provided in an embodiment of the present invention, obtains first of dredger by SINS
Confidence ceases and the first course information, and obtains second position information using wireless distance finding positioner, and compass obtains the second course
Information, carries out data fusion to getting information by localization process server, calculates the margin of error, and the navigation information to SINS
It is corrected, the navigation accuracy of the dredger that improve.
Fig. 2 is the structural representation of the integrated navigation system of another Stichopus japonicuss dredger in the embodiment of the present invention, such as Fig. 2 institutes
Show, on the basis of above-described embodiment, wireless distance finding positioner provided in an embodiment of the present invention 02 includes：Mobile node 21,
Aggregation node 22 and at least three non-colinear base stations 23, mobile node 21 and aggregation node 22 are arranged on dredger, base station
23 are fixedly installed in marine site；
Mobile node 21 is connected with aggregation node 22, and mobile node 21 is connected with each base station 23 simultaneously, aggregation node 22 with
Localization process server 04 connects, for entering row data communication with localization process server 04.
Specifically, Fig. 3 is the structural representation of the integrated navigation system of another Stichopus japonicuss dredger in the embodiment of the present invention, such as
Shown in Fig. 3, the wireless distance finding positioner 02 in the integrated navigation system of Stichopus japonicuss dredger provided in an embodiment of the present invention includes
The mobile node 21 being arranged on dredger and aggregation node 22, and at least three non-colinear base stations 23, and base station 23
It is fixedly installed in the marine site of dredger activity, the position of each base station 23 can be configured as needed, and longitude and latitude
Coordinate is known.The quantity of the base station 23 in the embodiment of the present invention is 4 as shown in Figures 2 and 3, it is to be understood that base
23 quantity of standing can be configured according to actual needs, and the embodiment of the present invention is not especially limited.Mobile node 21 and convergence
Node 22 connects, and sends data to localization process server by aggregation node 22 for sending data to aggregation node 22
04, mobile node 21 is also connected with each base station 23, for the communication of data.Connected mode therein can be connected by wireless network
Connect, naturally it is also possible to be other connected modes, the embodiment of the present invention is not especially limited.Additionally, aggregation node 22 also with it is fixed
Position processing server 04 connects, for the data communication between localization process server 04 and wireless distance finding positioner 02.
The integrated navigation system of Stichopus japonicuss dredger provided in an embodiment of the present invention, for the dredger in fixed waters operation
For, wireless distance finding positioner is laid by oneself, the absolute second position information of dredger can be obtained in real time, and according to
The second position information that wireless distance finding positioner gets and the second course information that compass gets, the navigation to SINS
Information is periodically corrected, and substantially increases the precision of the self-aid navigation positioning of ship.Additionally, provided in an embodiment of the present invention
Integrated navigation system has broken away from the dependence to gps signal, increased motility and the reliability of navigation system application.
On the basis of above-described embodiment, the second position information for obtaining dredger described in the current time, bag
Include：The distance between the mobile node and each base station are calculated using two-sided bidirectional ranging algorithm；According to the distance, adopt
The second position information is obtained with maximum likelihood estimation algorithm.
Specifically, the method that wireless distance finding positioner provided in an embodiment of the present invention obtains second position information is to adopt
Two-sided bidirectional ranging algorithm (Symmetrical based on linear frequency modulation frequency spectrum (Chirp Spread Spectrum, CSS) technology
Double-sided Two Way Ranging, hereinafter referred to as SDS-TWR) measure and calculate mobile node between base station away from
From, as mobile node is arranged on dredger, therefore mobile node to base station distance be actually dredger to base station
Distance, and the second position information of current time dredger is calculated using maximum likelihood estimation algorithm.The embodiment of the present invention
Wireless distance finding positioner adopt the SDS-TWR location algorithms based on CSS technologies, open air can reach 900m-2400m's
The positioning precision of effective range finding distance and 0.75m；If with frequency positioning once per minute, the power consumption of each node is as little as
13mW.The latitude and longitude coordinates information of each base station is, it is known that they are arranged at not in the waters position of same straight line；Mobile node with
Aggregation node is fixed on Stichopus japonicuss dredger；Base station, mobile node, aggregation node can adopt identical physical arrangement, its work(
Be able to can be distinguish between by software.
Fig. 4 is the schematic flow sheet of two-sided bidirectional ranging method in the embodiment of the present invention, as shown in figure 4, the present invention is implemented
The method that the distance between mobile node and base station are calculated in example, including：
S1, mobile node send the first ranging data bag.Mobile node sends the first ranging data bag to each base station, and opens
Dynamic timing.
S2, base station response.Each base station receives the first ranging data bag, starts timing, returns the first response to mobile node
Signal simultaneously stops timing, obtains corresponding first and processes time delay t1, the first answer signal includes the corresponding mark in each base station.
S3, mobile node receive answer signal.Mobile node receives the first answer signal and stops timing, obtains correspondence
Second processing time delay t2。
S4, base station send the second ranging data bag.Each base station sends the second ranging data bag to mobile node, and starts meter
When, the second ranging data bag includes the corresponding mark in each base station and corresponding first process time delay.
S5, mobile node response.Mobile node receives the second ranging data bag, starts timing, returns to corresponding base station
Second answer signal simultaneously stops timing, obtains the corresponding 3rd and processes time delay t3。
S6, base station receive answer signal.Each base station receives second answer signal and stops timing, obtains corresponding the
Four process time delay t4, and fourth process time delay is sent into mobile node.
The distance of S7, calculating mobile node to base station.After completing the ranging process of above-mentioned steps S1-S6, mobile node is obtained
Obtained four processing delay t1、t2、t3And t4, according to the time delayses for obtaining can be obtained by mobile node to each base station away from
From.Concrete grammar is as follows：
Fig. 5 is the principle schematic of two-sided bidirectional ranging method in the embodiment of the present invention, as shown in fig. 5, it is assumed that range finding letter
Propagation delay number between mobile node and base station is td, then as formula (1) and (2) have：
t2=2td+t1 (1)
t4=2td+t3 (2)
Propagation delay t of the distance measuring signal between mobile node and base station can be obtained according to formula (1) and (2)d, it is such as public
Shown in formula (3)：
td=[(t2-t1)+(t4-t3)]/4 (3)
If the aerial spread speed of electromagnetic wave is c, then the ideal distance d between mobile node and base stationiCan be with table
It is shown as equation below (4)：
di=c × td=c [(t2-t1)+(t4-t3)]/4 (4)
In formula：di--- the ideal distance between mobile node and i-th base station.
Because there is frequency drift, frequency drift at work in the crystal oscillator for timing in mobile node
Certain deviation can be caused to the time delay that processes for obtaining.It is assumed that the process time delay t that frequency drift causes1、t2、t3And t4Measurement
Deviation is respectively δ1、δ2、δ3And δ4, then the actual range between mobile node and base station can be expressed as formula (5)：
dir=c [(t2+δ2)-(t1+δ1)+(t4+δ4)-(t3+δ3)]/4 (5)
In formula：dir--- the actual range between mobile node and i-th base station.
In view of t2And t3Measured by the crystal oscillator of mobile node, therefore δ2=δ3, t1And t4Shaken by the crystal of base station
Swing device to measure, then have δ1=δ4, therefore formula (5) can be reduced to equation below (6)：
dir=c (t2-t1+t4-t3)/4 (6)
Relatively formula (5) and (6) is it can be seen that SDS-TWR methods eliminate mobile node crystal oscillator frequency drift institute
The range error brought, improves range accuracy.
After obtaining the distance between mobile node and each base station, the embodiment of the present invention is according to the mobile node for obtaining to each base
The distance stood, calculates the second position information of current time dredger using maximum likelihood estimation algorithm, and concrete grammar is as follows：
The coordinate of known n base station is respectively (x1, y1), (x2, y2) ..., (x3, y3), it is assumed that they with mobile node (x,
The distance between y) it is respectively d1, d2..., dn, according to the distance between each base station to mobile node and each base station coordinates, can
To obtain equation below (7)：
It can be seen that formula (7) is the equation of one group of circle, because range finding there may be error, this group circle may not meet at
A bit, i.e., equation group (7) may be without solution.First equation in the equation group of formula (7) is started to be individually subtracted last
Equation, eliminates quadratic term, obtains one group of linear equation, and is write the system of linear equations for obtaining as matrix form for AX=b, use
The nonlinear IEM model method of standard asks the solution of unknown number in AX=b, the as optimal solution of AX=b, while and formula (7)
One group of approximate solution, i.e., above-mentioned maximum likelihood estimation algorithm can be in the hope of the positional information of mobile node.Wherein A is expressed as
Formula (8), b are expressed as formula (9), and X is expressed as formula (10)：
Adopt the nonlinear IEM model method solving equation AX=b of standard that the coordinate of mobile node is obtained for following public
Formula (11)：
Quantity n=4 of the base station in the embodiment of the present invention, demarcates the latitude and longitude information of 4 base stations, in advance by above-mentioned
Process is estimated that the latitude and longitude information of mobile node, and mobile node is arranged on dredger, has thus obtained dredger
Second position information.The data message of acquisition is sent to localization process server by aggregation node, taken by localization process
Business device is modified to the sail information that SINS is obtained according to the information for obtaining.It should be noted that number in the embodiment of the present invention
According to process and calculating can voluntarily be processed by wireless distance finding positioner, it is also possible to mobile node is obtained by aggregation node
To process time delay send to localization process server, analyzing and processing and the calculating of data are carried out by localization process server, this
Inventive embodiments are not especially limited.
The integrated navigation system of Stichopus japonicuss dredger provided in an embodiment of the present invention, measures movable joint using SDS-TWR methods
Distance of the point apart from each base station, and the coordinate information of mobile node is calculated using maximum likelihood estimation algorithm, further obtain
The second position information of dredger, the course information of the dredger obtained with reference to compass can be periodically the course of the SINS
Information is modified, and realizes the long-time high-precision independent formula navigation of Stichopus japonicuss dredger.
On the basis of above-described embodiment, the aggregation node is additionally operable to manage between the mobile node and the base station
Data communication.
Specifically, aggregation node not only can send the data message that wireless distance finding positioner is obtained to positioning
Reason server, can also be managed to the data communication between mobile node and each base station.For example：Aggregation node can be managed
Enter the time interval of row data communication between mobile node and base station, it is also possible to which managing mobile node and which base station carries out data
Communication, to obtain process time delay, certain aggregation node can also possess other functions, and the embodiment of the present invention is not especially limited.
As the process time delay that mobile node can be got by aggregation node carries out data processing, by the data is activation after process to positioning
Processing server, data processing can calculate the distance between mobile node and each base station, or calculate mobile node
Coordinate be second position information etc..
The integrated navigation system of Stichopus japonicuss dredger provided in an embodiment of the present invention, by aggregation node to mobile node and base
Communication between standing is managed so that mobile node and base station can rational and orderly enter row data communication, so as to get standard
Really valid data, further improve the accuracy that result is corrected to SINS navigation informations, improve the navigation accuracy of dredger.
On the basis of above-described embodiment, the sail information also includes：The angle of pitch letter of dredger described in current time
Breath and roll angle information.
Specifically, the sail information that SINS gets can not only include first position information, the first course information, also
The pitching angle information and roll angle information of current time dredger can be included, can be with according to pitching angle information and roll angle information
The attitude information of dredger is got, so that SINS can more accurately calculate the sail information of dredger.
On the basis of above-described embodiment, the compass is electronic compass.
Specifically, electronic compass is set on dredger, to obtain the second course information of dredger.Electronic compass, and
Claim digital compass, which has the advantages that low energy consumption, small volume, lightweight, high precision, Miniaturized.
On the basis of above-described embodiment, the localization process server carries out data fusion, calculates the margin of error, specifically
Including：The localization process server is according to the first position information, first course information, the second position information
The state equation and measurement equation of the system are set up with second course information, according to the state equation and the measurement
Equation passes through Kalman filter calculation error amount.
Specifically, when SINS will be the first position information and the first course information, wireless distance finding of current time dredger fixed
The second position information for getting and compass are sent the second course information for getting to localization process service by position device
After device, the information for receiving can be carried out data fusion by localization process server, and calculate the margin of error.The process of data fusion
Can be expressed as：
P1, data model is set up, obtain state equation.The first position information got according to SINS and the first heading device
Breath, sets up first position model and the first course model；According to the second position information that wireless distance finding positioner gets, build
Vertical second position model；According to the second course information that compass gets, the second course model is set up；According to the data mould set up
Type, obtains the state equation of system.
The foundation of P2, measurement equation.First position information and the wireless distance finding positioner that SINS is obtained obtain the
Two positional informationes carry out subtracting each other obtaining measurement, set up position measurement equation；The first course information obtained according to SINS and sieve
Examining and seizing the second course information for taking carries out subtracting each other obtaining measurement, sets up course measurement equation；
P3, calculate the margin of error.The state equation and measurement equation of the integrated navigation system set up according to step P1, P2,
By Kalman filter estimation difference amount, for feedback compensation being carried out to SINS, obtain revised integrated navigation information.
System state equation wherein after integrated navigation system discretization is expressed as formula (12), and measurement equation is represented
For equation below (13)：
Xk=φk,k-1Xk-1+Гk,k-1Wk,k-1 (12)
Zk=HkXk+Vk (13)
In formula, XkAnd Xk-1For system mode vector, φk,k-1For Matrix of shifting of a step, Гk,k-1Square is driven for system noise
Battle array, Wk,k-1For system noise vector；ZkTo measure vector, HkFor measurement matrix, VkFor measurement noise vector.Wherein Wk,k-1And Vk
The white Gaussian noise of zero-mean is all, it is orthogonal between two kinds of noises.
Fig. 6 is the model schematic of data fusion process in the embodiment of the present invention, as shown in fig. 6, the embodiment of the present invention is carried
For the second confidence that obtains with wireless distance finding positioner of data fusion first position information that mainly SINS is obtained
Breath carries out data fusion, and the second course information that the first course information that SINS is obtained is obtained with compass carries out data fusion.
And the state equation and measurement equation of system are got, the process for carrying out data by Kalman filter is calculated, and obtains SINS
The margin of error of navigation information, and feedback modifiers are carried out to SINS navigation informations.
It should be noted that founding mathematical models, state equation and measurement equation and employing block in the embodiment of the present invention
The concrete methods of realizing of Thalmann filter estimation difference amount can be selected as needed, and the embodiment of the present invention does not make concrete limit
It is fixed.Certainly the method for estimation error amount can also adopt additive method, such as particle filter etc., the embodiment of the present invention not to make concrete limit
It is fixed.
The integrated navigation system of Stichopus japonicuss dredger provided in an embodiment of the present invention, is obtained by wireless location range unit and compass
Take the second position information and the second course information of dredger, and by Kalman filter by the second position information for getting
The first position information and the first course information got with SINS with the second course information carries out data fusion, calculates SINS
The margin of error of the sail information of acquisition, and feedback modifiers are carried out to SINS navigation informations, improve the standard of dredger navigation information
Exactness and precision.
Fig. 7 is the schematic flow sheet of the method for the integrated navigation of Stichopus japonicuss dredger in the embodiment of the present invention, as shown in fig. 7,
The method of the integrated navigation of Stichopus japonicuss dredger provided in an embodiment of the present invention includes：
R1, strapdown inertial navigation device obtain the sail information of current time dredger, and the sail information is sent out
Localization process server is delivered to, the sail information includes：First position information and the first course information；
Specifically, the strapdown inertial navigation device i.e. SINS being arranged on dredger, obtains current time dredger
Sail information, sail information include first position information and the first course information, can also include certainly other information, the present invention
Embodiment is not especially limited.SINS sends the sail information for getting to localization process server, so that localization process takes
Business device is corrected to its navigation information.
R2, wireless distance finding positioner obtain the second position information of the current time dredger, and by described second
Positional information is sent to the localization process server；
Specifically, wireless distance finding positioner is additionally provided with dredger, when wireless distance finding positioner obtains current
The second position information of dredger is carved, and second position information is sent to the localization process server.It is concrete to obtain second
The method of positional information is consistent with above-described embodiment, and here is omitted.
R3, compass obtain the second course information of the current time dredger, and second course information is sent
To the localization process server；
Specifically, compass is additionally provided with dredger, can be electronic compass, or other compass, the present invention
Embodiment is not especially limited.Compass obtains the second course information of current time dredger, and the second course information is sent
To the localization process server.
R4, the localization process server are according to the first position information, first course information, the second
Confidence ceases and second course information carries out data fusion, calculates the margin of error, and according to the margin of error to the navigation
Information is corrected the integrated navigation information that obtains, and the integrated navigation information is sent to strapdown inertial navigation dress
Put.
Specifically, localization process server receives first position information, the first course information, second position information and
After two course informations, data fusion is carried out, and calculate the margin of error of SINS sail informations, according to the margin of error pair for calculating
SINS sail informations are corrected and obtain integrated navigation information.Revised integrated navigation information is obtained, and integrated navigation is believed
Breath is sent to SINS, so that SINS carries out the renewal of navigation information to dredger.
For example：Just in operation on the sea, SINS therein gets first of current time dredger to certain Stichopus japonicuss dredger
Confidence breath is A, and the first course information is B, and first position information A and the first course information B are sent to localization process service
Device；It is C that wireless distance finding positioner gets the second position information of current time dredger, and second position information C is sent out
Deliver to localization process server；It is D that compass gets the second course information of current time dredger, and by the second course information
D is sent to localization process server.Localization process server is according to first position information A, the first course information B, the second position
Information C and the second course information D carry out data fusion, calculate first position information A the margin of error be E, the first course information B
The margin of error be F.And the positional information after being corrected is corrected to first position information A and the first course information B for A+
E, the course information after correction are B+F, and the positional information and course information after correction is sent to SINS.
The method of the integrated navigation of Stichopus japonicuss dredger provided in an embodiment of the present invention, obtains the first of dredger by SINS
Positional information and the first course information, and second position information is obtained using wireless distance finding positioner, compass obtains second and navigates
To information, data fusion is carried out to getting information by localization process server, calculate the margin of error, and the navigation to SINS is believed
Breath is corrected, the navigation accuracy of the dredger that improve.
On the basis of above-described embodiment, the wireless distance finding positioner obtains the second of the current time dredger
Positional information, including：The second position information is obtained using maximum likelihood estimation algorithm.
Specifically, wireless distance finding positioner includes mobile node, aggregation node and at least three non-colinear bases
Stand, by the transmission and response of the ranging data bag between mobile node and base station, surveyed using the SDS-TWR based on CSS technologies
Mobile node is measured and is calculated the distance between to each base station.As mobile node is arranged on dredger, therefore mobile node is arrived
The distance of base station is actually distance of the dredger to base station.Again the distance of the mobile node for getting to each base station is adopted
Maximum likelihood estimation algorithm calculates the second position information of current time dredger.Wherein maximum likelihood estimation algorithm is calculated
The concrete grammar of the second position information of current time dredger is consistent with above-described embodiment, and here is omitted.
The method of the integrated navigation of Stichopus japonicuss dredger provided in an embodiment of the present invention, is combined using two-sided bidirectional ranging algorithm
Maximum likelihood estimation algorithm calculates the second position information of current time dredger, eliminates crystal oscillator frequency drift institute band
The range error come, improves range accuracy.Further the sail information of SINS is entered according to the second position information for getting
Row correction, improves the precision of dredger navigation.
On the basis of above-described embodiment, the localization process server carries out data fusion, calculates the margin of error, specifically
Including：The localization process server is according to the first position information, first course information, the second position information
The state equation and measurement equation of system are set up with second course information, according to the state equation and the measurement equation
By Kalman filter calculation error amount.
Specifically, localization process server receives first position information, the first course information, second position information and
After two course informations, the state equation and measurement equation of system, and the state side that will be obtained are set up out according to the information for receiving
Journey and measurement equation calculate the margin of error of SINS sail informations using Kalman filter.Wherein state equation and measurement equation
Foundation and the method using Kalman filter calculation error amount, consistent with above-described embodiment, here is omitted.
The method of the integrated navigation of Stichopus japonicuss dredger provided in an embodiment of the present invention, by wireless location range unit and compass
The second position information and the second course information of dredger are obtained, and by Kalman filter by the second confidence for getting
The first position information and the first course information that breath and the second course information are got with SINS carries out data fusion, calculates
The margin of error of SINS navigation informations, and feedback modifiers are carried out to SINS navigation informations, improve the accurate of dredger navigation information
Degree and precision.
Finally it should be noted that：Above example only to illustrate technical scheme, rather than a limitation；Although
With reference to the foregoing embodiments the present invention has been described in detail, it will be understood by those within the art that：Which still may be used
To modify to the technical scheme described in foregoing embodiments, or equivalent is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of integrated navigation system of Stichopus japonicuss dredger, it is characterised in that include：Strapdown inertial navigation device, wireless survey
Away from positioner, compass and localization process server, the strapdown inertial navigation device, the wireless distance finding positioner
And the compass is connected with the localization process server；
The strapdown inertial navigation device is used for the sail information for obtaining current time dredger, and the sail information is sent out
The localization process server is delivered to, the sail information includes：First position information and the first course information；
The wireless distance finding positioner is used for the second position information for obtaining dredger described in the current time, and will be described
Second position information is sent to the localization process server；
The compass is arranged on the dredger, for obtaining the second course information of dredger described in the current time,
And second course information is sent to the localization process server；
The localization process server is for according to the first position information, first course information, the second position
Information and second course information carry out data fusion, calculate the margin of error, and according to the margin of error to the navigation letter
Breath is corrected the integrated navigation information that obtains, and the integrated navigation information is sent to the strapdown inertial navigation device.
2. system according to claim 1, it is characterised in that the wireless distance finding positioner includes：Mobile node, remittance
Poly- node and at least three non-colinear base stations, the mobile node and the aggregation node are arranged on the dredger, institute
State base station to be fixedly installed in marine site；
The mobile node is connected with the aggregation node, and the mobile node is connected with each base station simultaneously, the convergence
Node is connected with the localization process server, for entering row data communication with the localization process server.
3. system according to claim 2, it is characterised in that the second of dredger described in the acquisition current time
Positional information, including：The distance between the mobile node and each base station are calculated using two-sided bidirectional ranging algorithm；According to
The distance, obtains the second position information using maximum likelihood estimation algorithm.
4. system according to claim 2, it is characterised in that the aggregation node be additionally operable to manage the mobile node with
Data communication between the base station.
5. system according to claim 1, it is characterised in that the sail information also includes：Fish for described in current time
The pitching angle information and roll angle information of ship.
6. system according to claim 1, it is characterised in that the compass is electronic compass.
7. the system according to any one of claim 1-6, it is characterised in that the localization process server carries out data and melts
Close, calculate the margin of error, specifically include：The localization process server is according to the first position information, first course
Information, the second position information and second course information set up the state equation and measurement equation of the system, according to
The state equation and the measurement equation pass through Kalman filter calculation error amount.
8. a kind of integrated navigation system of Stichopus japonicuss dredger of application as described in any one of claim 1-7 carries out Stichopus japonicuss dredger
Integrated navigation method, it is characterised in that include：
Strapdown inertial navigation device obtains the sail information of current time dredger, and the sail information is sent to positioning
Processing server, the sail information include：First position information and the first course information；
Wireless distance finding positioner obtains the second position information of the current time dredger, and by the second position information
Send to the localization process server；
Compass obtains the second course information of the current time dredger, and second course information is sent to described fixed
Position processing server；
The localization process server is according to the first position information, first course information, the second position information
Data fusion is carried out with second course information, the margin of error is calculated, and the sail information is entered according to the margin of error
Row correction obtains integrated navigation information, and the integrated navigation information is sent to the strapdown inertial navigation device.
9. method according to claim 8, it is characterised in that the wireless distance finding positioner obtains the current time
The second position information of dredger, including：The second position information is obtained using maximum likelihood estimation algorithm.
10. method according to claim 8, it is characterised in that the localization process server carries out data fusion, calculates
Go out the margin of error, specifically include：The localization process server is according to the first position information, first course information, institute
State second position information and second course information sets up the state equation and measurement equation of system, according to the state equation
Pass through Kalman filter calculation error amount with the measurement equation.
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