CN111397603B - inertial/Doppler moving base rough alignment method under dynamic condition of carrier attitude - Google Patents

inertial/Doppler moving base rough alignment method under dynamic condition of carrier attitude Download PDF

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CN111397603B
CN111397603B CN202010333308.3A CN202010333308A CN111397603B CN 111397603 B CN111397603 B CN 111397603B CN 202010333308 A CN202010333308 A CN 202010333308A CN 111397603 B CN111397603 B CN 111397603B
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CN111397603A (en
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姚逸卿
侯岚华
徐晓苏
王迪
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Southeast University
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    • 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
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

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Abstract

The invention discloses a coarse alignment method of an inertia/Doppler moving base under the dynamic condition of carrier attitude, which comprises the following steps: firstly, DVL speed measurement information is converted into Doppler frequency shift information; secondly, compensating a DVL speed measurement error under the dynamic condition of the carrier attitude by using attitude change information updated by SINS, and estimating the current speed by combining Doppler frequency shift information; integrating the compensated DVL speed measurement information and SINS output information to construct a reference vector and an observation vector; and calculating an initial attitude matrix by adopting an optimal basis quaternion method, and finally updating the current attitude information. The invention can effectively improve the convergence speed, precision and robustness of the SINS/DVL combined navigation system in the coarse alignment stage.

Description

inertial/Doppler moving base rough alignment method under dynamic condition of carrier attitude
Technical Field
The invention discloses a coarse alignment method for an inertia/Doppler moving base under the dynamic condition of carrier attitude, belongs to the integrated navigation alignment technology, and is particularly suitable for the field of underwater integrated navigation.
Background
In an underwater integrated navigation system, integrated navigation based on SINS (strapdown inertial navigation system)/DVL (Doppler velocimeter) has high autonomy and concealment, and is one of the most commonly used underwater integrated navigation modes. In the SINS/DVL integrated navigation system, the initial attitude precision is used as a key index, and the precision of the whole integrated navigation system is influenced. The rough alignment provides initial attitude information for fine alignment and subsequent navigation by calculating rough attitude information, and plays a key role in the whole underwater navigation task.
In the prior art, various methods such as an analytic method, a vector attitude determination method and the like are mainly used as a coarse alignment method for an SINS/DVL integrated navigation system. The DVL speed measurement error introduced by attitude change under the dynamic condition of a carrier is not considered in the existing coarse alignment method. The error is used as observation and enters an SINS/DVL coarse alignment algorithm, and the coarse alignment speed and the accuracy index are greatly reduced. In order to improve the robustness of the SINS/DVL coarse alignment, a coarse alignment method suitable for the dynamic situation of the carrier attitude needs to be provided urgently.
Disclosure of Invention
The purpose of the invention is as follows: in order to improve the convergence rate, precision and robustness of SINS/DVL system coarse alignment, the invention provides an inertia/Doppler (SINS/DVL) moving base coarse alignment method under the condition of carrier attitude dynamic.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
an inertial/Doppler moving base rough alignment method under the condition of carrier attitude dynamic comprises the following steps:
s1: converting the DVL speed measurement information into Doppler frequency shift information;
s2: compensating DVL speed measurement errors under the dynamic condition of the carrier attitude by using attitude change information updated by SINS, and estimating the current speed by combining Doppler frequency shift information;
s3: integrating the compensated DVL speed measurement information and SINS output information to construct a reference vector and an observation vector;
s4: and calculating an initial attitude matrix by adopting an optimal basis quaternion method, and updating current attitude information.
In the inertial/doppler mobile base rough alignment method under the dynamic condition of the carrier attitude, the step S1 specifically includes the following steps:
if the DVL outputs the velocity measurement information, converting the velocity measurement information output by the DVL into doppler shift information:
Figure BDA0002465734050000021
Figure BDA0002465734050000022
[Δf1 Δf2 Δf3 Δf4]Tfor the four axial frequency shift information of DVL, f0For the ultrasonic signal frequency transmitted by the DVL, a is the transformation matrix,
Figure BDA0002465734050000023
DVL velocity measurement information, C ultrasonic wave velocity and alpha wave beam inclination angle;
if the DVL directly outputs the Doppler shift information, the DVL is directly used to output the Doppler shift information.
In the inertial/doppler mobile base rough alignment method under the dynamic condition of the carrier attitude, the step S2 specifically includes the following steps:
compensating a DVL speed measurement error under the dynamic condition of the carrier attitude by using attitude change information updated by SINS, and estimating the current speed by combining Doppler frequency shift information:
s2.1, constructing a corresponding attitude change matrix by using the change condition of a gyro output angular velocity tracking carrier system b in the SINS between the time t1 of DVL signal transmission and the time t2 of signal reception:
Figure BDA0002465734050000024
wherein the content of the first and second substances,
Figure BDA0002465734050000025
for the derivative of the transformation matrix from time b at t2 to time b at t1,
Figure BDA0002465734050000026
a transformation matrix from time b at t2 to time b at t1, the initial value is a unit matrix I,
Figure BDA0002465734050000027
is gyro angular velocity [ "in]Is an antisymmetric array;
s2.2, using SINS information to compensate and estimate the current DVL velocity measurement information:
Figure BDA0002465734050000028
wherein the content of the first and second substances,
Figure BDA0002465734050000029
the DVL velocity at the reception time "b" at t2, the ultrasonic wave velocity at C, the unit matrix at I,
Figure BDA00024657340500000210
a transformation matrix from time b at t2 to time b at t1, A is the transformation matrix, [ Δ f [ ]1 Δf2 Δf3 Δf4]TFor the four-axis frequency shift information of DVL, f0Is the ultrasonic signal frequency transmitted by the DVL.
In the inertial/doppler mobile base rough alignment method under the dynamic condition of the carrier attitude, the step S3 specifically includes the following steps:
integrating the compensated DVL speed measurement information and SINS output information to construct a reference vector alpha and an observation vector beta:
Figure BDA0002465734050000031
Figure BDA0002465734050000032
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0002465734050000033
for a transformation matrix of n series to n0 series, GnIs the gravity vector under the system of n,
Figure BDA0002465734050000034
for the transformation matrix from b to b0,
Figure BDA0002465734050000035
for the DVL velocity at the reception time b at t2,
Figure BDA0002465734050000036
the DVL speed at the initial reception time b,
Figure BDA0002465734050000037
the parameters are provided by an SINS system.
In the inertial/doppler mobile base rough alignment method under the dynamic condition of the carrier attitude, the step S4 specifically includes the following steps:
calculating an initial attitude matrix by adopting an optimal basis quaternion method, and updating current attitude information:
s4.1, constructing a K matrix:
Figure BDA0002465734050000038
Figure BDA0002465734050000039
Figure BDA00024657340500000310
wherein K (t) is a K matrix, α is a reference vector, β is an observation vector, and [ × ] is an antisymmetric matrix;
s4.2 discretizing the K matrix:
Figure BDA00024657340500000311
wherein, KkIs a K time K matrix, Kk-1A K matrix at the time of K-1, delta K is a K matrix increment, alpha is a reference vector, beta is an observation vector, and delta t is a DVL measurement interval;
S4.3 Kkthe minimum characteristic value of the matrix is the initial attitude optimal quaternion
Figure BDA00024657340500000312
Calculating an initial attitude matrix corresponding to the initial attitude matrix:
Figure BDA00024657340500000313
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA00024657340500000314
as an initial attitude matrix, q0，q1，q2，q3Are respectively as
Figure BDA00024657340500000315
A corresponding meta value;
calculating a current attitude matrix:
Figure BDA00024657340500000316
wherein the content of the first and second substances,
Figure BDA00024657340500000317
as a function of the current attitude matrix,
Figure BDA00024657340500000318
is a transformation matrix from b0 to b,
Figure BDA00024657340500000319
in the form of an initial attitude matrix,
Figure BDA00024657340500000320
is a transformation matrix from n to n 0.
Has the advantages that:
the invention compensates DVL velocity measurement error by using the carrier attitude change information and assists SINS to estimate the initial attitude, thereby improving the speed, precision and robustness of coarse alignment.
Drawings
FIG. 1 is a flow chart of the inertial/Doppler motion base coarse alignment method under dynamic carrier attitude conditions of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings. It should be understood that the following embodiments are provided only for the purpose of thoroughly and completely disclosing the present invention and fully conveying the technical concept of the present invention to those skilled in the art, and the present invention may be embodied in many different forms and is not limited to the embodiments described herein. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention.
The principle of the coarse alignment method of the inertia/Doppler moving base under the dynamic condition of the carrier attitude is shown in figure 1. The process mainly comprises the following steps:
step S1, the DVL velocity measurement information is converted into doppler shift information. The method specifically comprises the following steps:
if the DVL outputs the velocity measurement information, converting the velocity measurement information output by the DVL into doppler shift information:
Figure BDA0002465734050000041
Figure BDA0002465734050000042
[Δf1 Δf2 Δf3 Δf4]Tfor the four-axis frequency shift information of DVL, f0For the ultrasonic signal frequency emitted by the DVL, a is the transformation matrix,
Figure BDA0002465734050000043
DVL velocity measurement information, C ultrasonic wave velocity and alpha wave beam inclination angle;
if the DVL directly outputs the Doppler shift information, the DVL is directly used to output the Doppler shift information.
And step S2, compensating the DVL speed measurement error under the dynamic condition of the carrier attitude by using the attitude change information updated by the SINS, and estimating the current speed by combining the Doppler frequency shift information. The method specifically comprises the following steps:
s2.1, constructing a corresponding attitude change matrix by using the change condition of a gyroscope output angular velocity tracking carrier system b in the SINS between the moment of DVL signal transmission t1 and the moment of signal reception t 2:
Figure BDA0002465734050000044
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0002465734050000045
for the derivative of the transformation matrix from time b at t2 to time b at t1,
Figure BDA0002465734050000046
a transformation matrix from time b at t2 to time b at t1, the initial value is a unit matrix I,
Figure BDA0002465734050000051
is gyro angular velocity [ "in]Is an antisymmetric array;
s2.2, the SINS information is used for compensating and estimating the current DVL velocity measurement information:
Figure BDA0002465734050000052
wherein the content of the first and second substances,
Figure BDA0002465734050000053
the DVL velocity at the reception time "b" at t2, the ultrasonic wave velocity at C, the unit matrix at I,
Figure BDA0002465734050000054
a transformation matrix from time b at t2 to time b at t1, A is the transformation matrix, [ Δ f [ ]1 Δf2 Δf3 Δf4]TFor the four-axis frequency shift information of DVL, f0Is the ultrasonic signal frequency emitted by the DVL.
And step S3, integrating the compensated DVL velocity measurement information and SINS output information to construct a reference vector and an observation vector. The method specifically comprises the following steps:
integrating the compensated DVL speed measurement information and SINS output information to construct a reference vector alpha and an observation vector beta:
Figure BDA0002465734050000055
Figure BDA0002465734050000056
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0002465734050000057
for a transformation matrix of n series to n0 series, GnIs the gravity vector under the system of n,
Figure BDA0002465734050000058
for a transformation matrix from b to b0,
Figure BDA0002465734050000059
for the DVL velocity at time b received at t2,
Figure BDA00024657340500000510
the DVL velocity at the initial reception time b,
Figure BDA00024657340500000511
the parameters are provided by an SINS system.
And step S4, calculating an initial attitude matrix by adopting an optimal basis quaternion method, and updating the current attitude information. The method specifically comprises the following steps:
s4.1, constructing a K matrix:
Figure BDA00024657340500000512
Figure BDA00024657340500000513
Figure BDA00024657340500000514
wherein K (t) is a K matrix, α is a reference vector, β is an observation vector, and [ × ] is an antisymmetric matrix;
s4.2 discretizing the K matrix:
Figure BDA00024657340500000515
wherein, KkIs a K matrix at time K, Kk-1A K matrix at the time of K-1, delta K is a K matrix increment, alpha is a reference vector, beta is an observation vector, and delta t is a DVL measurement interval;
S4.3 Kkthe minimum characteristic value of the matrix is the initial attitude optimal quaternion
Figure BDA0002465734050000061
Calculating an initial attitude matrix corresponding to the initial attitude matrix:
Figure BDA0002465734050000062
wherein the content of the first and second substances,
Figure BDA0002465734050000063
as an initial attitude matrix, q0，q1，q2，q3Are respectively as
Figure BDA0002465734050000064
A corresponding element value;
calculating a current attitude matrix:
Figure BDA0002465734050000065
wherein the content of the first and second substances,
Figure BDA0002465734050000066
as a function of the current attitude matrix,
Figure BDA0002465734050000067
for the transformation matrix from b0 family to b family,
Figure BDA0002465734050000068
is a matrix of the initial attitude(s),
Figure BDA0002465734050000069
is a transformation matrix from n to n 0.
The technical means disclosed in the scheme of the invention are not limited to the technical means disclosed in the above embodiments, but also include the technical means formed by any combination of the above technical features. It should be noted that modifications and adaptations can be made by those skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.

Claims (1)

1. An inertial/Doppler moving base rough alignment method under the dynamic condition of carrier attitude is characterized by comprising the following steps:
s1: converting the DVL speed measurement information into Doppler frequency shift information;
s2: compensating a DVL speed measurement error under the dynamic condition of the carrier attitude by using the attitude change information updated by the SINS, and estimating the current speed by combining the Doppler frequency shift information;
s3: integrating the compensated DVL speed measurement information and SINS output information to construct a reference vector and an observation vector;
s4: calculating an initial attitude matrix by adopting an optimal basis quaternion method, and updating current attitude information;
the step S1 specifically includes the following steps:
if the DVL outputs the velocity measurement information, converting the velocity measurement information output by the DVL into doppler shift information:
Figure FDA0003636937930000011
Figure FDA0003636937930000012
[Δf1 Δf2 Δf3 Δf4]Tfor the four-axis frequency shift information of DVL, f0For the frequency of the ultrasonic signal transmitted by the DVL, A is the transformation matrix，
Figure FDA0003636937930000013
DVL velocity measurement information, C ultrasonic wave velocity and alpha wave beam inclination angle;
if the DVL directly outputs the Doppler frequency shift information, the DVL is directly used for outputting the Doppler frequency shift information;
the step S2 specifically includes the following steps:
compensating a DVL speed measurement error under the dynamic condition of the carrier attitude by using attitude change information updated by SINS, and estimating the current speed by combining Doppler frequency shift information:
s2.1, constructing a corresponding attitude change matrix by using the change condition of a gyro output angular velocity tracking carrier system b in the SINS between the time t1 of DVL signal transmission and the time t2 of signal reception:
Figure FDA0003636937930000014
wherein the content of the first and second substances,
Figure FDA0003636937930000015
for the derivative of the transformation matrix from time b at t2 to time b at t1,
Figure FDA0003636937930000016
a transformation matrix from time b at t2 to time b at t1, the initial value is a unit matrix I,
Figure FDA0003636937930000017
is gyro angular velocity [ "in]Is an antisymmetric array;
s2.2, using SINS information to compensate and estimate the current DVL velocity measurement information:
Figure FDA0003636937930000021
wherein the content of the first and second substances,
Figure FDA0003636937930000022
the DVL velocity at the reception time "b" at t2, the ultrasonic wave velocity at C, the unit matrix at I,
Figure FDA0003636937930000023
a transformation matrix from time b at t2 to time b at t1, A is the transformation matrix, [ Δ f [ ]1 Δf2 Δf3 Δf4]TFor the four-axis frequency shift information of DVL, f0The ultrasonic signal frequency emitted for the DVL;
the step S3 specifically includes the following steps:
integrating the compensated DVL speed measurement information and SINS output information to construct a reference vector alpha and an observation vector beta:
Figure FDA0003636937930000024
Figure FDA0003636937930000025
wherein the content of the first and second substances,
Figure FDA0003636937930000026
for a transformation matrix of n series to n0 series, GnIs the gravity vector under the system of n,
Figure FDA0003636937930000027
for a transformation matrix from b to b0,
Figure FDA0003636937930000028
for the DVL velocity at the reception time b at t2,
Figure FDA0003636937930000029
the DVL speed at the initial reception time b,
Figure FDA00036369379300000214
the parameters are provided by an SINS system;
the step S4 specifically includes the following steps:
calculating an initial attitude matrix by adopting an optimal basis quaternion method, and updating current attitude information:
s4.1, constructing a K matrix:
Figure FDA00036369379300000213
Figure FDA00036369379300000210
Figure FDA00036369379300000211
wherein K (t) is a K matrix, α is a reference vector, β is an observation vector, and [ × ] is an antisymmetric matrix;
s4.2 discretizing the K matrix:
Figure FDA00036369379300000212
wherein, KkIs a K time K matrix, Kk-1A K matrix at the time of K-1, delta K is a K matrix increment, alpha is a reference vector, beta is an observation vector, and delta t is a DVL measurement interval;
S4.3Kkthe minimum characteristic value of the matrix is the initial attitude optimal quaternion
Figure FDA0003636937930000031
Calculating an initial attitude matrix corresponding to the initial attitude matrix:
Figure FDA0003636937930000032
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003636937930000033
as an initial attitude matrix, q0，q1，q2，q3Are respectively as
Figure FDA0003636937930000034
A corresponding meta value;
calculating a current attitude matrix:
Figure FDA0003636937930000035
wherein the content of the first and second substances,
Figure FDA0003636937930000036
is a matrix of the current attitude, and is,
Figure FDA0003636937930000037
for the transformation matrix from b0 family to b family,
Figure FDA0003636937930000038
in the form of an initial attitude matrix,
Figure FDA0003636937930000039
is a transformation matrix from n to n 0.
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CN111854747B (en) * 2020-08-25 2022-08-12 东南大学 DVL-assisted SINS (strapdown inertial navigation system) coarse alignment method under large-mobility condition of carrier
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