CN114252089B - Combined calibration method for DVL speed measurement errors - Google Patents

Combined calibration method for DVL speed measurement errors Download PDF

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CN114252089B
CN114252089B CN202111164821.5A CN202111164821A CN114252089B CN 114252089 B CN114252089 B CN 114252089B CN 202111164821 A CN202111164821 A CN 202111164821A CN 114252089 B CN114252089 B CN 114252089B
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dvl
carrier
inertial navigation
coordinate system
speed
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CN114252089A (en
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黄科
姜校亮
可伟
韩袁昭
牛亚辉
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Hebei Hanguang Heavy Industry Ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; 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
    • G01C21/16Navigation; 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
    • G01C21/165Navigation; 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20Instruments for performing navigational calculations

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Navigation (AREA)

Abstract

According to the combined calibration method for the DVL speed measurement error, the motion speed of a DVL measurement carrier is converted from a DVL coordinate system to an inertial navigation coordinate system, so that the carrier motion speed in the inertial navigation coordinate system is obtained; designing a Kalman filter for combined calibration of the DVL speed measurement errors based on the difference between the motion speed of the DVL measured carrier and the motion speed of the carrier under the inertial navigation coordinate system; and calibrating the DVL speed measurement error parameter according to the observability of a Kalman filter and an inertial navigation system calibrated by the combination of the DVL speed measurement error to obtain the real motion speed of the carrier. Before the inertial/DVL integrated navigation, the accuracy of the integrated navigation system can be improved by calibrating the DVL speed measurement error.

Description

Combined calibration method for DVL speed measurement errors
Technical Field
The invention belongs to the technical field of inertial navigation, and particularly relates to a combined calibration method for DVL speed measurement errors.
Background
Inertial navigation is an estimation method for calculating the attitude, speed and position of a carrier by measuring the angular speed and linear acceleration of the carrier by using a gyroscope and an accelerometer based on Newton classical mechanics theory. The inertial navigation system can complete navigation and positioning tasks without external information by only depending on the measured value of the inertial sensor, and has autonomy and concealment which are incomparable with other navigation means. Inertial navigation is widely used in many fields, especially in the military field, as an indispensable navigation means. As a dead reckoning method, the speed error of the inertial navigation system is increased along with the increase of time, so that the positioning accuracy of the system is affected. Therefore, in some occasions requiring long-time navigation and positioning, such as autonomous underwater vehicles, it is necessary to provide speed information for the system by means of a doppler log (hereinafter referred to as DVL).
However, the output of the DVL is three components of the motion velocity of the carrier in the DVL coordinate system, and these components need to be transformed into the inertial navigation system coordinate system to navigate. Due to the inaccuracy of the installation, there is a certain error angle between the two coordinate systems and the output of the DVL itself has a certain error. These errors have a significant impact on the navigation system and therefore must be calibrated out in advance for an inertial/DVL integrated navigation system.
Disclosure of Invention
The invention overcomes one of the defects of the prior art, provides a combined calibration method for DVL speed measurement errors, and can improve the precision of a combined navigation system by calibrating the DVL speed measurement errors before inertial/DVL combined navigation.
According to an aspect of the present disclosure, the present invention provides a method for combined calibration of DVL speed measurement errors, the method including:
converting the motion speed of the DVL measuring carrier from a DVL coordinate system to an inertial navigation coordinate system to obtain the carrier motion speed under the inertial navigation coordinate system;
Designing a Kalman filter for combined calibration of the DVL speed measurement errors based on the difference between the motion speed of the DVL measured carrier and the motion speed of the carrier under the inertial navigation coordinate system;
and calibrating the DVL speed measurement error parameter according to the observability of a Kalman filter and an inertial navigation system calibrated by the combination of the DVL speed measurement error to obtain the real motion speed of the carrier.
In one possible implementation manner, the converting the motion speed of the DVL measurement carrier to the inertial navigation coordinate system to obtain the motion speed of the carrier under the inertial navigation coordinate system includes:
the carrier movement speed under the inertial navigation coordinate system is as follows: Wherein V d is the motion speed of the DVL measurement carrier, δk is the scale coefficient error of the motion speed of the DVL measurement carrier and the carrier motion speed under the inertial navigation coordinate system,/> Is a transfer matrix from the DVL coordinate system to the inertial navigation coordinate system.
In one possible implementation, the Kalman filter for combined calibration of the DVL velocimetry error is:
Wherein z= [ V x-VX Vy-VY Vz-VZ]T ] is a measurement vector of the inertial navigation system, h= [ V d Vd×]3×4 ] is a measurement matrix of the inertial navigation system, and x= [ δk (1+δk) phi (1+δk) ψ ] T is a system state vector composed of DVL velocity measurement error parameters.
In one possible implementation, the condition for observability of the inertial navigation system is: there is a certain moment in time that,
Matrix arrayThe reversibility of the material can be realized,
Wherein,
Matrix arrayAnd matrix- (V d×)2 dissatisfied rank).
In one possible implementation manner, the real motion speed of the carrier is the motion speed and the transfer matrix of the DVL measurement carrier obtained by inertial navigation combined navigation in the calibration processIs a product of (a) and (b).
According to the combined calibration method for the DVL speed measurement error, the motion speed of a DVL measurement carrier is converted from a DVL coordinate system to an inertial navigation coordinate system, so that the carrier motion speed in the inertial navigation coordinate system is obtained; designing a Kalman filter for combined calibration of the DVL speed measurement errors based on the difference between the motion speed of the DVL measured carrier and the motion speed of the carrier under the inertial navigation coordinate system; and calibrating the DVL speed measurement error parameter according to the observability of a Kalman filter and an inertial navigation system calibrated by the combination of the DVL speed measurement error to obtain the real motion speed of the carrier. Before the inertial/DVL integrated navigation, the accuracy of the integrated navigation system can be improved by calibrating the DVL speed measurement error.
Drawings
The accompanying drawings are included to provide a further understanding of the technical aspects or prior art of the present application, and are incorporated in and constitute a part of this specification. The drawings, which are used to illustrate the technical scheme of the present application, are not limited to the technical scheme of the present application.
FIG. 1 illustrates a combined calibration principle schematic of DVL tachometer error in accordance with an embodiment of the present disclosure;
FIG. 2 illustrates a combined calibration method flowchart for DVL tachometer errors in accordance with an embodiment of the present disclosure;
FIGS. 3a-3d are diagrams of combined calibration parameters for DVL tachometer error, respectively, according to an embodiment of the present disclosure;
FIGS. 4a-4d respectively illustrate uncertainty diagrams of combined calibration parameters of DVL tachometer error in accordance with an embodiment of the present disclosure.
Detailed Description
The following will describe embodiments of the present application in detail with reference to the drawings and examples, thereby solving the technical problems by applying technical means to the present application, and realizing the corresponding technical effects can be fully understood and implemented accordingly. The embodiment of the application and the characteristics in the embodiment can be mutually combined on the premise of no conflict, and the formed technical scheme is within the protection scope of the application.
Additionally, the steps illustrated in the flowcharts of the figures may be performed in a computer, such as a set of computer executable instructions. Also, while a logical order is depicted in the flowchart, in some cases, the steps depicted or described may be performed in a different order than presented herein.
FIG. 1 illustrates a combined calibration principle schematic of DVL velocimetry errors, according to an embodiment of the present disclosure.
As shown in fig. 1, in the integrated navigation system of the strapdown inertial unit and the GPS, parameters of the strapdown inertial unit and the GPS are filtered by the integrated navigation filter of the strapdown inertial unit and the GPS to obtain an inertial navigation coordinate system speed V b, speed information measured by the DVL is a DVL coordinate system speed V d, the inertial navigation coordinate system speed V b and the DVL coordinate system speed V d are calibrated by the DVL calibration filter to obtain calibrated DVL error parameters, and then the DVL error parameters are used for correcting the V d, so that accuracy of the DVL measurement can be improved. The main performance indexes of the strapdown inertial measurement unit, the GPS and the DVL are shown in table 1.
FIG. 2 illustrates a flow chart of a combined calibration method for DVL tachometer errors in accordance with an embodiment of the present disclosure. As shown in fig. 2, the method may include:
Step S1: and converting the motion speed of the DVL measurement carrier from the DVL coordinate system to the inertial navigation coordinate system to obtain the carrier motion speed in the inertial navigation coordinate system.
The carrier motion speed under the inertial navigation coordinate system is as follows: Wherein V d is the motion speed of the DVL measurement carrier, δk is the scale coefficient error of the motion speed of the DVL measurement carrier and the carrier motion speed under the inertial navigation coordinate system,/> Is a transfer matrix from the DVL coordinate system to the inertial navigation coordinate system.
As shown in fig. 1, assuming that the inertial navigation system coordinate system of the navigation system combining the strapdown inertial measurement unit and the GPS is b-system (denoted as O-XYZ coordinate system), the DVL (doppler log) coordinate system is d-system (denoted as O-XYZ coordinate system), the transfer matrix from d-system (DVL coordinate system) to b-system (inertial navigation system) is:
where ψ, φ and θ are the heading, pitch and roll angles of the d-system (DVL coordinate system) to the b-system (inertial navigation system), respectively.
Generally, when the inertial navigation system and the DVL are installed, in order to ensure that the d-system (DVL coordinate system) and the b-system (inertial navigation system) are approximately overlapped, that is, the euler angles are all small angles, the DVL velocity measurement error model can be approximately:
Wherein: η= [ Φθψ ] T.
The velocity V d=[Vx Vy Vz]T of the DVL output and the true velocity V b=[VX VY VZ]T of the carrier differ by a scale factor error δk in addition to the coordinate transformation relationship, i.e.
This is the mathematical model of the DVL velocimetry error.
Step S2: and designing a Kalman filter calibrated by the combination of the DVL speed measurement errors based on the difference between the motion speed of the DVL measured carrier and the motion speed of the carrier under the inertial navigation coordinate system.
The Kalman filter for combined calibration of DVL speed measurement errors is as follows:
Wherein z= [ V x-VX Vy-VY Vz-VZ]T ] is a measurement vector of the inertial navigation system, h= [ V d Vd×]3×4 ] is a measurement matrix of the inertial navigation system, and x= [ δk (1+δk) phi (1+δk) ψ ] T is a system state vector composed of DVL velocity measurement error parameters. The method can avoid that the speed information output by the inertial navigation system contains larger errors and does not meet the calibration requirement, so that the speed output by the inertial/GPS integrated navigation system is used as the real speed of the carrier.
The filter discretization state equation is: x k/k-1=ΦXk-1 is a group of the total number of the components,
Because δk and η are constant errors, the one-step transition matrix of the discretization state of the inertial navigation system is Φ=i 4×4, the covariance matrix of the system noise is q=0, and the measured noise is the noise of the DVL.
Step S3: and calibrating the DVL speed measurement error parameter according to the observability of a Kalman filter and an inertial navigation system calibrated by the combination of the DVL speed measurement error to obtain the real motion speed of the carrier.
The complete considerable filling conditions of the inertial navigation system (inertial navigation system) at the moment k are: the time instant n exists such that the following matrix is reversible:
wherein,
Matrix arrayAnd matrix- (V d×)2 dissatisfied rank).
Inertial navigation systems are not fully observable if the inertial navigation system carrier speed does not change in the DVL coordinate system. Therefore, the carrier of the inertial navigation system only changes the course or does acceleration and deceleration maneuver, and the observability of the inertial navigation system cannot be changed. Inertial navigation systems are fully observable only when their carrier velocity changes in the DVL coordinate system (or the carrier coordinate system, the conversion relationship between which is fixed). Thus, such a calibration path can be designed: after the inertial navigation system is electrified and alignment is completed, the power system applies a forward motion to the carrier of the inertial navigation system, and the component of the motion speed under the b system is V b1=[0 vy 0]T; after a certain time, the power system maintains the forward speed and applies a transverse speed to the carrier, and the component under the b system is V b2=[vx vy 0]T. Therefore, the system is completely considerable, and the speed measurement error parameters of the DVL can be calibrated.
The initial parameters of the calibration algorithm can be adjusted appropriately according to the actual situation, and all calculation data are calculated by adopting standard dimension, for example ,P0=diag[(0.1)2、(5°)2、(5°)2、(5°)2],Q=0,R=diag[(0.01m/s)2、(0.01m/s)2、(0.01m/s)2].. As known from the algorithm principle, only measurement update is needed for Kalman filtering update. In the calibration process, the velocity V n obtained by inertial/GPS integrated navigation is multiplied by the gesture matrixThe true velocity V b as a carrier.
FIGS. 3a-3d are diagrams of combined calibration parameters for DVL tachometer error, respectively, according to an embodiment of the present disclosure; FIGS. 4a-4d respectively illustrate uncertainty diagrams of combined calibration parameters of DVL tachometer error in accordance with an embodiment of the present disclosure.
For example, 0 to 300 seconds of carrier moves at a uniform velocity in the east direction at a speed of 10m/s; the eastern speed of the carrier is unchanged and the northbound speed is increased from 0 to 10m/s at 300-310 s; the carrier 310-610 s keeps uniform motion, simulation results of the obtained combined calibration parameters of the DVL speed measurement errors are shown in figures 3 a-3 d, simulation results of uncertainty of the obtained combined calibration parameters of the DVL speed measurement errors are shown in figures 4 a-4 d, and the DVL speed measurement error parameter calibration method disclosed by the invention designs calibration paths of corresponding DVL speed measurement errors through observability of an analysis system by virtue of figures 2-3, so that accuracy of a quick inertial combined navigation result is ensured.
According to the combined calibration method for the DVL speed measurement error, the motion speed of a DVL measurement carrier is converted from a DVL coordinate system to an inertial navigation coordinate system, so that the carrier motion speed in the inertial navigation coordinate system is obtained; designing a Kalman filter for combined calibration of the DVL speed measurement errors based on the difference between the motion speed of the DVL measured carrier and the motion speed of the carrier under the inertial navigation coordinate system; and calibrating the DVL speed measurement error parameter according to the observability of a Kalman filter and an inertial navigation system calibrated by the combination of the DVL speed measurement error to obtain the real motion speed of the carrier. Before the inertial/DVL integrated navigation, the accuracy of the integrated navigation system can be improved by calibrating the DVL speed measurement error.
Although the embodiments of the present invention are described above, the embodiments are only used for facilitating understanding of the present invention, and are not intended to limit the present invention. Any person skilled in the art can make any modification and variation in form and detail without departing from the spirit and scope of the present disclosure, but the scope of the present disclosure is still subject to the scope of the appended claims.

Claims (1)

1. The combined calibration method for DVL speed measurement errors is characterized by comprising the following steps:
converting the motion speed of the DVL measuring carrier from a DVL coordinate system to an inertial navigation coordinate system to obtain the carrier motion speed under the inertial navigation coordinate system;
Designing a Kalman filter for combined calibration of the DVL speed measurement errors based on the difference between the motion speed of the DVL measured carrier and the motion speed of the carrier under the inertial navigation coordinate system;
calibrating DVL speed measurement error parameters according to the observability of a Kalman filter and an inertial navigation system calibrated by the combination of the DVL speed measurement errors to obtain the real motion speed of the carrier;
Converting the motion speed of the DVL measurement carrier from a DVL coordinate system to an inertial navigation coordinate system to obtain the carrier motion speed under the inertial navigation coordinate system, wherein the method comprises the following steps of:
the carrier movement speed under the inertial navigation coordinate system is as follows: Wherein V d is the motion speed of the DVL measurement carrier, δk is the scale coefficient error of the motion speed of the DVL measurement carrier and the carrier motion speed under the inertial navigation coordinate system,/> A transfer matrix from a DVL coordinate system to an inertial navigation coordinate system;
the Kalman filter for combined calibration of the DVL speed measurement errors is as follows:
Z=Vb-Vd
=(1+δk)(I-η×)Vd-Vd
=δkVd-(1+δk)η×Vd
=δkVd+Vd×[(1+δk)η]
=HX,
Wherein, z= [ V x-VX Vy-VY Vz-VZ]T ] is a measurement vector of the inertial navigation system, h= [ V d Vd×]3×4 ] is a measurement matrix of the inertial navigation system, and x= [ δk (1+δk) phi (1+δk) ψ ] T is a system state vector composed of DVL velocity measurement error parameters;
The conditions for observability of the inertial navigation system are: there is a certain moment in time that,
Matrix arrayThe reversibility of the material can be realized,
Wherein,
Matrix arrayAnd matrix- (V d×)2 dissatisfied rank;
the real motion speed of the carrier is the motion speed and transfer matrix of the DVL measurement carrier obtained by inertial navigation combined navigation in the calibration process Is a product of (a) and (b).
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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103389115A (en) * 2013-07-26 2013-11-13 哈尔滨工程大学 Integrated error calibrating method of SINS/DVL (strapdown inertial navigation system/doppler velocity sonar) combined navigation system
CN106908086A (en) * 2017-04-14 2017-06-30 北京理工大学 A kind of modification method of Doppler log range rate error
CN108871379A (en) * 2018-07-04 2018-11-23 北京理工大学 A kind of DVL range rate error online calibration method
CN110031882A (en) * 2018-08-02 2019-07-19 哈尔滨工程大学 A kind of outer measurement information compensation method based on SINS/DVL integrated navigation system
CN111323050A (en) * 2020-03-19 2020-06-23 哈尔滨工程大学 Strapdown inertial navigation and Doppler combined system calibration method
CN112197789A (en) * 2020-08-14 2021-01-08 北京自动化控制设备研究所 INS/DVL installation error calibration method based on QUEST
CN112504298A (en) * 2020-11-25 2021-03-16 东南大学 GNSS-assisted DVL error calibration method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103389115A (en) * 2013-07-26 2013-11-13 哈尔滨工程大学 Integrated error calibrating method of SINS/DVL (strapdown inertial navigation system/doppler velocity sonar) combined navigation system
CN106908086A (en) * 2017-04-14 2017-06-30 北京理工大学 A kind of modification method of Doppler log range rate error
CN108871379A (en) * 2018-07-04 2018-11-23 北京理工大学 A kind of DVL range rate error online calibration method
CN110031882A (en) * 2018-08-02 2019-07-19 哈尔滨工程大学 A kind of outer measurement information compensation method based on SINS/DVL integrated navigation system
CN111323050A (en) * 2020-03-19 2020-06-23 哈尔滨工程大学 Strapdown inertial navigation and Doppler combined system calibration method
CN112197789A (en) * 2020-08-14 2021-01-08 北京自动化控制设备研究所 INS/DVL installation error calibration method based on QUEST
CN112504298A (en) * 2020-11-25 2021-03-16 东南大学 GNSS-assisted DVL error calibration method

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