CN101464935A - AUV intelligent fault-tolerance combined navigation simulation system based on network - Google Patents
AUV intelligent fault-tolerance combined navigation simulation system based on network Download PDFInfo
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Abstract
The invention provides a network-based AUV intelligent fault-tolerant integrated navigation simulation system which comprises a strap-down inertial navigation simulator, a GPS simulator, a DVL simulator, an AUV navigation terminal. A sub-navigation system is connected with the AUV navigation terminal through an IP network and transmits relevant navigation information to the AUV navigation terminal on a real-time basis, and fault detection and integrated navigation operation are finished in the AUV navigation terminal. Each sub-system has the characteristics of independent working, so that a plug-and-play AUV intelligent fault-tolerant integrated navigation simulation system is formed; the problem that the traditional navigation facility accesses to the integrated navigation terminal through an RS232 serial port and is limited to the number of serial ports is solved, thereby achieving the purpose of multiple accesses and representing a trend of equipment internet protocolization. Therefore, research cost is effectively reduced, and the invention has significant engineering application value for researching integrated navigation system and the design of communication for latter navigation system.
Description
(1) technical field
What the present invention relates to is a kind of analogue system, the navigation simulation system of specifically a kind of underwater intelligent robot.
(2) background technology
Along with scientific-technical progress, take up an area of the ocean of sphere area 70.8%, with its abundant living resources, mineral wealth and energy, constantly attracting people to study the underwater navigation technology, the undersea detection technology is developed the huge treasure-house of this society.In recent years, AUV becomes important tool and the competent assistant that the mankind carry out the ocean activity in production, has application space and research and development demand widely in civilian and military domain.In order to adapt to wide, the disguised characteristics that require high and multiple mission task of AUV scope of activities, must development a kind of autonomous under water, high reliability, high-precision integrated navigation system.Because lake examination, sea examination need a large amount of funds, before testing, it is significant to carry out simulating, verifying intelligent fault-tolerance combined navigation effect.
Traditional semi-matter simulating system, with the application number is that semi-matter simulating system described in the 200610011580.X is an example, by the RS232 serial data line each navigation subsystem and array terminal are linked together, but this method is limited by the serial ports number, normally unit list usefulness has been wasted resource; And common integrated analog form, each navigation subsystem degree of coupling height, reusability is poor, and the synchronism height can't embody in the true environment, and there is asynchronous phenomenon in signal between the equipment.From the research angle, be badly in need of a kind of AUV intelligent fault-tolerance combined navigation of research and development system, each subsystem can satisfy the requirement of Multi-User Multi-Task parallel work-flow, shortens the research and development time, saves R﹠D costs.
(3) summary of the invention
The object of the present invention is to provide a kind of requirement that can satisfy the Multi-User Multi-Task parallel work-flow, system provides good simulated environment for the research intelligent fault-tolerance combined navigation, has saved the based on network AUV intelligent fault-tolerance combined navigation simulation system of R﹠D costs.
The object of the present invention is achieved like this:
A kind of based on network AUV intelligent fault-tolerance combined navigation simulation system is made of inertial navigation simulator, GPS simulator, DVL simulator, AUV navigation terminal four parts.Wherein: the AUV navigation terminal is by a) AUV movement locus generator, b) fault generator, c) intelligent fault-tolerance combined navigation module, d) track generation module, e) user interface terminal and f) communication module constitutes.Wherein, user interface terminal provides friendly information interaction environment such as sail plan setting, sensor parameters setting, fault setting, track demonstration; Position, speed, acceleration, the attitude information of sail plan simulation AUV under the wave swinging condition that AUV movement locus generator is provided with according to the user; The fault generator is responsible for triggering inertial navigation, GPS, DVL sudden change and slow accident barrier; The intelligent fault-tolerance combined navigation module is carried out fault detect and information fusion by the SINS position and speed attitude information, GPS position and speed information, the DVL velocity information that collect in real time, finally exports effective navigation information; The track generation module is according to sensing data and final data splitting real-time rendering navigation curve; Communication module carries out information realtime interactive by IP network and other simulator.The DVL simulator carries out the simulation of DVL velocity information according to the movement locus generator, is in same PC with the AUV navigation terminal; Inertial navigation simulator, GPS simulator are set up socket by IP network with the AUV navigation terminal respectively and are connected, and transmit parameter information in navigation procedure in real time.
Wherein, the inertial navigation simulator comprises: subscriber interface module, motion simulation module, inertial sensor emulation module, lever arm interference and noise generation module, fault generation module, navigation algorithm are realized module, communication module.Wherein, inertial navigation simulator navigational parameter, fault parameter both can also can be provided with in the AUV navigation terminal by the subscriber interface module setting of this simulator; The motion simulation module is simulated position, speed, acceleration, the attitude information of AUV under the wave swinging condition according to sail plan and running environment; Lever arm interference and noise generation module are according to alignment error, constant value drift, random drift analog sensor error; Fault generation module can become slowly according to the fault parameter introducing sensor of this simulator or the setting of AUV navigation terminal, mutation failure; Inertial sensor emulation module real time modelling inertial navigation acceleration is in this case taken into account the gyro output valve simultaneously; Navigation algorithm realizes that module is according to the acceleration information of inertial sensor emulation module output and position, speed, the attitude information of angular velocity information calculating carrier; Communication module connects by setting up socket, can obtain sail plan that the AUV navigation terminal is provided with and the sensor parameters relevant with strapdown inertial navitation system (SINS) and fault parameter etc.; And inertial navigation can be resolved the information real-time Transmission and give the AUV navigation terminal.
Wherein, the GPS simulator comprises: subscriber interface module, communication module, carrier movement model, satellite trajectory generator, visible star forecast module, determine best star module, GPS noise and fault generation module, resolve acceptance point position module, communication module.GPS simulator navigational parameter, fault parameter both can also can be provided with in the AUV navigation terminal by the subscriber interface module setting of this simulator; The motion simulation module is according to sail plan and running environment, analog carrier position, speed, acceleration, attitude information; The satellite trajectory generator is predicted visible star in conjunction with carrier movement information by visible star forecast module by ephemeris computation satellite instantaneous position, and determines best four stars; GPS noise and fault can be generated by this simulator fault generation module or AUV navigation terminal, and are incorporated into by resolving the acceptance point position module by its computation of pseudoranges and obtain in the optimum positional information; Communication module connects by setting up socket, can obtain sail plan that the AUV navigation terminal is provided with and the sensor parameters relevant with gps system and fault parameter etc.; And the position and speed information real-time Transmission that GPS can be resolved is given the AUV navigation terminal.
Among the present invention, SINS, GPS, DVL simulator are set up socket by IP network with the AUV navigation terminal and are connected, and wherein, the DVL simulator is in same PC with the AUV navigation terminal in the present invention because functions of modules is more single.Three simulators can carry out the navigational parameter setting by the AUV navigation terminal, the error model setting, and can trigger sudden change and slow accident barrier by the fault generation module of AUV navigation terminal.
Advantage of the present invention is, each intermodule marriage relation is in line with low coupling, reusable, the principle of easy expansion, and the thought of plug and play design AUV intelligent fault-tolerance combined navigation system, the simulated environment of IP based network, make the Multi-User Multi-Task parallel work-flow become possibility, solve traditional RS232 serial Communication Design effectively and be subjected to the restriction of serial ports number, guaranteed the characteristic that works alone of each navigation subsystem again, the thought of plug and play has fundamentally embodied actual working environment, be navigator IPization, deep early-stage preparations have been done in networking, have the engineering using value.
(4) description of drawings
Fig. 1 is among the present invention, AUV intelligent fault-tolerance combined navigation system emulation structural drawing.
Fig. 2 is among the present invention, intelligent fault-tolerance composite module schematic diagram.
Fig. 3 is among the present invention, AUV intelligent fault-tolerance combined navigation simulation system software design process flow diagram.
Fig. 4 is among the present invention, GPS simulator structural drawing.
Fig. 5 is among the present invention, SINS simulator structural drawing.
(5) embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1, the fault-tolerant analogue system of AUV intelligence combination is made of inertial navigation simulator, GPS simulator, DVL simulator, AUV navigation terminal four parts.The AUV navigation terminal is by a) AUV movement locus generator, b) fault generator, c) intelligent fault-tolerance combined navigation module, d) track generation module, e) user interface terminal and f) communication module constitutes.Wherein, user interface terminal provides friendly information interaction environment such as sail plan setting, sensor parameters setting, fault setting, track demonstration; Position, speed, acceleration, the attitude information of sail plan simulation AUV under the wave swinging condition that AUV movement locus generator is provided with according to the user; The fault generator is responsible for triggering inertial navigation, GPS, DVL sudden change and slow accident barrier; The intelligent fault-tolerance combined navigation module is carried out fault detect and information fusion by the SINS position and speed attitude information, GPS position and speed information, the DVL velocity information that collect in real time, finally exports effective navigation information; The track generation module is according to sensing data and final data splitting real-time rendering navigation curve; Communication module carries out information realtime interactive by IP network and other simulator.The DVL simulator carries out the simulation of DVL velocity information according to the movement locus generator, is in same PC with the AUV navigation terminal; Inertial navigation simulator, GPS simulator are set up socket by IP network with the AUV navigation terminal respectively and are connected, and transmit parameter information in navigation procedure in real time.
Fig. 2 is an intelligent fault-tolerance composite module schematic diagram.At first, each navigation subsystem information is carried out rationality, consistency check, each minute combined system carry out information fusion, carry out fault detect and system reconfiguration again.In order to make residual error, two state-detection can differentiate the source of failure,, as observed quantity, design 9 rank wave filters and obtain block position information with inertial navigation and GPS positional information difference at SINS/GPS integrated navigation module; , design 7 rank wave filters and obtain group speed information, as observed quantity with inertial navigation and GPS velocity information difference so that analysis of failure is derived from position or velocity information.At SINS/GPS/DVL integrated navigation module, as observed quantity, design 9 rank wave filters and obtain block position information with inertial navigation and GPS positional information difference; , design 7 rank wave filters and obtain group speed information as observed quantity with inertial navigation and DVL velocity information difference; At the SINS/DVL integrated navigation system, as observed quantity, design 13 rank simulators with inertial navigation and DVL velocity information difference.State variable can be chosen according to inertial navigation error motion equation and DVL error model.
The DVL error model is:
The inertial navigation error equation is:
1) system state equation of the described SINS/DVL13 of foundation rank integrated navigation system state equation is:
W＝[0?0?a
x?a
y?0?0?0?w
x?w
y?w
z?w
d?w
Δ?0]
T
The measurement equation of system is:
Discrete equation is:
Wherein, X
kFor by estimated state; W
kBe noise sequence; Φ
K, k-1Be t
K-1To t
kOne go on foot transfer matrix constantly; Γ
K-1For system noise drives battle array; H
kFor measuring battle array; V
kBe the measurement noise sequence;
δ λ represents latitude, longitude error; δ V
x, δ V
yExpression east orientation, north orientation velocity error; V
x, V
yExpression east orientation, north orientation speed; φ
x, φ
yExpression north orientation, the horizontal misalignment of east orientation; φ
zExpression orientation misalignment; ε
x, ε
y, ε
zExpression gyroscopic drift; δ V
dExpression doppler velocity offset error; The δ Δ is represented the drift angle error; Calibration factor error delta C, V
DxV
DyFor the DVL north east to speed.
2) with the velocity error be observed quantity, the SINS/DVL7 rank Kalman filter of foundation has following state equation and measurement equation form, because it is low to the gyroscopic drift observability degree, omits ε
z:
X＝[δV
x?δV
y?φ
x?φ
y?φ
z?ε
x?ε
y]
T
The measurement equation of system is:
H＝[I
2×2?O
2×5]
3) with the site error be observed quantity, the SINS/GPS9 rank Kalman filter of foundation has following state equation and measurement equation form
The measurement equation of system is:
H＝[I
2×2?O
2×7]
Wherein,
λ
GyBe GPS latitude, longitude information.
4) with the velocity error be observed quantity, the SINS/GPS7 rank Kalman filter of foundation has following state equation and measurement equation form:
X＝[δV
x?δV
y?φ
x?φ
y?φ
z?ε
x?ε
y]
T
The measurement equation of system is:
H＝[I
2×2?O
2×5]
Wherein, V
GxV
GyFor the DVL north east to speed.
5) the residual error x that uses of intelligent fault-tolerance combined navigation system
2, two state x
2Method, the algorithm that fault distinguishing and system reconfiguration are known for the industry researchist.
Fig. 3 is an AUV intelligent fault-tolerance simulation system software design flow diagram.At first, the user enters AUV navigation terminal friendly interface, and flight path information is set; The user selects to carry out the subsystem of information fusion, and carries out the communication information setting of corresponding subsystem, comprises IP address and port number information, the error parameter setting, and the fault parameter setting, sub-navigational system has plug and play for AUV navigation terminal system; The user initiates to navigate behind the initiation command, and AUV intelligent fault-tolerance combined navigation terminal is set up socket with each navigation subsystem and is connected, and simultaneously, each navigation subsystem is obtained relevant informations such as flight path information, sensor error parameter and fault parameter, carries out navigation calculation; The AUV navigational system reads the navigation subsystem navigational parameter in real time by sample frequency; Enter the intelligent fault-tolerance combined navigation module then, at first the antithetical phrase systematic parameter is carried out rationality, consistance is judged; Enter federal filtering branch combined system and carry out information fusion; By residual error x
2, two state x
2Method is carried out fault judgement; System reconfiguration; Output AUV navigation information.Wherein navigation algorithm and residual error x
2, two state x
2Method is this area researchist's well-known algorithms.
Fig. 4 is a GPS simulator structural drawing.After having added communication module on the basis of traditional GPS simulator, the GPS simulator is mainly by constituting with lower module: subscriber interface module, communication module, carrier movement model, satellite trajectory generator, visible star forecast module, determine best star module, GPS noise and fault generation module, resolve acceptance point position module, communication module.The GPS simulator is set up socket by IP network and is connected, and carries out information interaction with AUV navigation terminal communication module.Wherein, the correlation parameter of GPS simulator can be determined by the planning flight path that is provided with in the AUV navigation terminal module and GPS error parameter and fault parameter after communication connect to be set up; The motion simulation module is according to sail plan and running environment, analog carrier position, speed, acceleration, attitude information; The satellite trajectory generator is by ephemeris computation satellite instantaneous position, predict visible star in conjunction with carrier movement information by visible star forecast module, and definite best four stars, simulating GPS output, carry out navigation calculation according to pseudorange, and, transmit navigation informations such as position that the GPS simulator calculates, speed in real time to the AUV navigation terminal according to the sudden change on the digital simulation position that is provided with in the fault generator, the speed and slow accident barrier.
Fig. 5 is the inertial navigation simulator.After having added communication module on the basis of traditional inertial navigation simulator, the inertial navigation simulator is mainly by constituting with lower module: subscriber interface module, motion simulation module, inertial sensor emulation module, lever arm interference and noise generation module, fault generation module, navigation algorithm are realized module, communication module.Set up socket by IP network and connect, carry out information interaction with AUV navigation terminal communication module.Wherein, the correlation parameter of inertial navigation simulator can be determined by the planning flight path that is provided with in the AUV navigation terminal module and inertial navigation related sensor error parameter and fault parameter after communication connect to be set up; The motion simulation module is simulated position, speed, acceleration, the attitude information of AUV under the wave swinging condition according to sail plan and running environment; Lever arm interference and noise generation module are according to alignment error, constant value drift, random drift analog sensor error; Fault generation module can become slowly according to the fault parameter introducing sensor of this simulator or the setting of AUV navigation terminal, mutation failure; Inertial sensor emulation module real time modelling inertial navigation acceleration is in this case taken into account the gyro output valve simultaneously; Navigation algorithm realizes that module is according to the acceleration information of inertial sensor emulation module output and position, speed, the attitude information of angular velocity information calculating carrier; In the navigation procedure, the inertial navigation simulator transmits the navigation information that the inertial navigation simulator calculates in real time to the AUV navigation terminal.
Claims (5)
1, a kind of based on network AUV intelligent fault-tolerance combined navigation simulation system is characterized in that: be made of inertial navigation simulator, GPS simulator, DVL simulator, AUV navigation terminal four parts; The AUV navigation terminal is by a) AUV movement locus generator, b) fault generator, c) intelligent fault-tolerance combined navigation module, d) track generation module, e) user interface terminal and f) communication module constitutes; Wherein, user interface terminal provides sail plan setting, sensor parameters setting, fault setting, track to show friendly information interaction environment; Position, speed, acceleration, the attitude information of sail plan simulation AUV under the wave swinging condition that AUV movement locus generator is provided with according to the user; The fault generator is responsible for triggering inertial navigation, GPS, DVL sudden change and slow accident barrier; The intelligent fault-tolerance combined navigation module is carried out fault detect and information fusion by the SINS position and speed attitude information, GPS position and speed information, the DVL velocity information that collect in real time, finally exports effective navigation information; The track generation module is according to sensing data and final data splitting real-time rendering navigation curve; Communication module carries out information realtime interactive by IP network and other simulator; The DVL simulator carries out the simulation of DVL velocity information according to the movement locus generator, is in same PC with the AUV navigation terminal; Inertial navigation simulator, GPS simulator are set up socket by IP network with the AUV navigation terminal respectively and are connected, and transmit parameter information in navigation procedure in real time.
2, a kind of based on network AUV intelligent fault-tolerance combined navigation simulation system according to claim 1 is characterized in that: described inertial navigation simulator comprises subscriber interface module, motion simulation module, inertial sensor emulation module, lever arm interference and noise generation module, fault generation module, navigation algorithm realization module, communication module; Wherein, inertial navigation simulator navigational parameter, fault parameter both can also can be provided with in the AUV navigation terminal by the subscriber interface module setting of this simulator; The motion simulation module is simulated position, speed, acceleration, the attitude information of AUV under the wave swinging condition according to sail plan and running environment; Lever arm interference and noise generation module are according to alignment error, constant value drift, random drift analog sensor error; Fault generation module introduces according to the fault parameter of this simulator or the setting of AUV navigation terminal that sensor becomes slowly, mutation failure; Inertial sensor emulation module real time modelling inertial navigation acceleration is in this case taken into account the gyro output valve simultaneously; Navigation algorithm realizes that module is according to the acceleration information of inertial sensor emulation module output and position, speed, the attitude information of angular velocity information calculating carrier; Communication module connects by setting up socket, obtains the sail plan of AUV navigation terminal setting and sensor parameters and the fault parameter relevant with strapdown inertial navitation system (SINS); And inertial navigation can be resolved the information real-time Transmission and give the AUV navigation terminal.
3, a kind of based on network AUV intelligent fault-tolerance combined navigation simulation system according to claim 1 and 2 is characterized in that: described GPS simulator comprises subscriber interface module, communication module, carrier movement model, satellite trajectory generator, visible star forecast module, determines best star module, GPS noise and fault generation module, resolves acceptance point position module, communication module; GPS simulator navigational parameter, fault parameter both can also can be provided with in the AUV navigation terminal by the subscriber interface module setting of this simulator; The motion simulation module is according to sail plan and running environment, analog carrier position, speed, acceleration, attitude information; The satellite trajectory generator is predicted visible star in conjunction with carrier movement information by visible star forecast module by ephemeris computation satellite instantaneous position, and determines best four stars; GPS noise and fault can be generated by this simulator fault generation module or AUV navigation terminal, and are incorporated into by resolving the acceptance point position module by its computation of pseudoranges and obtain in the optimum positional information; Communication module connects by setting up socket, obtains sail plan that the AUV navigation terminal is provided with and the sensor parameters relevant with gps system and fault parameter etc.; And the position and speed information real-time Transmission that GPS is resolved is given the AUV navigation terminal.
4, a kind of based on network AUV intelligent fault-tolerance combined navigation simulation system according to claim 1 and 2, it is characterized in that: described DVL simulator is according to the DVL error parameter formation speed information of AUV movement locus generator in the AUV navigation terminal and setting, simultaneously by sudden change of fault generation module simulation and slow accident barrier; This simulator and AUV navigation terminal are in same PC.
5, a kind of based on network AUV intelligent fault-tolerance combined navigation simulation system according to claim 3, it is characterized in that: described DVL simulator is according to the DVL error parameter formation speed information of AUV movement locus generator in the AUV navigation terminal and setting, simultaneously by sudden change of fault generation module simulation and slow accident barrier; This simulator and AUV navigation terminal are in same PC.
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| CN108803374A (en) * | 2018-06-07 | 2018-11-13 | 中国人民解放军海军工程大学 | A kind of unmanned boat environmental data emulation mode |
| CN108803374B (en) * | 2018-06-07 | 2021-09-21 | 中国人民解放军海军工程大学 | Unmanned ship environment data simulation method |
| CN110296701A (en) * | 2019-07-09 | 2019-10-01 | 哈尔滨工程大学 | Inertia and satellite combined guidance system gradation type failure recall fault-tolerance approach |
| CN114076610A (en) * | 2020-08-12 | 2022-02-22 | 千寻位置网络（浙江）有限公司 | Error calibration and navigation method and device of GNSS/MEMS vehicle-mounted integrated navigation system |
| CN114076610B (en) * | 2020-08-12 | 2024-05-28 | 千寻位置网络（浙江）有限公司 | Error calibration and navigation method and device of GNSS/MEMS vehicle-mounted integrated navigation system |
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