CN101464935B - AUV intelligent fault-tolerance combined navigation simulation system based on network - Google Patents
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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
(I) technical field
The invention relates to a simulation system, in particular to a navigation simulation system of an underwater intelligent robot.
(II) background of the invention
With the technological progress, the oceans occupying 70.8% of the spherical area continuously attract people to research underwater navigation technology and underwater detection technology by virtue of abundant biological resources, mineral resources and energy sources, and develop huge treasury of the society. In recent years, AUV has become an important tool and assistant for human marine production activities, and has a wide application space and research and development requirements in the civil and military fields. In order to adapt to the characteristics of wide AUV (autonomous Underwater vehicle) moving range, high concealment requirement and multiple mission tasks, an underwater autonomous, high-reliability and high-precision combined navigation system must be developed. As a great deal of expenditure is required for lake test and sea test, the intelligent fault-tolerant integrated navigation effect is verified through simulation before the test is carried out, and the method has important significance.
The traditional semi-physical simulation system takes the semi-physical simulation system with the application number of 200610011580.X as an example, each navigation subsystem is connected with a combined terminal through an RS232 serial data line, but the method is limited by the number of serial ports, usually a single machine is used, and resources are wasted; in a common integrated simulation mode, each navigation subsystem has high coupling degree, poor reusability and high synchronism, and cannot reflect the phenomenon that signals between devices are asynchronous in a real environment. From the research perspective, it is urgently needed to develop an AUV intelligent fault-tolerant integrated navigation system, each subsystem can meet the requirement of multi-user multi-task parallel operation, the development time is shortened, and the development cost is saved.
Disclosure of the invention
The invention aims to provide the network-based AUV intelligent fault-tolerant integrated navigation simulation system which can meet the requirement of multi-user multi-task parallel operation, provides a good simulation environment for researching an intelligent fault-tolerant integrated navigation system and saves the research and development cost.
The purpose of the invention is realized as follows:
an AUV intelligent fault-tolerant integrated navigation simulation system based on a network is composed of a strapdown inertial navigation simulator, a GPS simulator, a DVL simulator and an AUV navigation terminal. Wherein: the AUV navigation terminal is composed of: a) the system comprises an AUV motion track generator, a b) fault generator, a c) intelligent fault-tolerant integrated navigation module, a d) track generation module, an e) user interface terminal and a f) communication module. The user interface terminal provides friendly information interaction environments such as navigation plan setting, sensor parameter setting, fault setting, track display and the like; the AUV motion trail generator simulates position, speed, acceleration and attitude information of the AUV in a sea wave swing state according to a navigation plan set by a user; the fault generator is responsible for triggering strapdown inertial navigation, a GPS and DVL sudden change and slow change faults; the intelligent fault-tolerant integrated navigation module carries out fault detection and information fusion through the SINS position, speed and attitude information, the GPS position and speed information and the DVL speed information which are collected in real time, and finally outputs effective navigation information; the track generation module draws a navigation curve in real time according to the sensor data and the final combined data; the communication module carries out information real-time interaction with other simulators through an IP network. The DVL simulator simulates DVL speed information according to the motion trail generator and is positioned in the same PC with the AUV navigation terminal; the strapdown inertial navigation simulator and the GPS simulator are respectively connected with the AUV navigation terminal through a socket through an IP network, and parameter information is transmitted in real time in the navigation process.
Wherein, strapdown inertial navigation simulator includes: the system comprises a user interface module, a motion simulation module, an inertial sensor simulation module, a lever arm interference and noise generation module, a fault generation module, a navigation algorithm realization module and a communication module. Navigation parameters and fault parameters of the strapdown inertial navigation simulator can be set by a user interface module of the simulator, and can also be set in an AUV navigation terminal; the motion simulation module simulates the position, speed, acceleration and attitude information of the AUV in a sea wave swinging state according to a navigation plan and an operation environment; the lever arm interference and noise generation module simulates sensor errors according to installation errors, constant drift and random drift; the fault generation module can introduce sensor slow-changing and sudden-changing faults according to fault parameters set by the simulator or the AUV navigation terminal; meanwhile, the inertial sensor simulation module simulates an accelerometer and a gyroscope output value of the strapdown inertial navigation in real time under the condition; the navigation algorithm implementation module calculates the position, speed and attitude information of the carrier according to the acceleration information and the angular speed information output by the inertial sensor simulation module; the communication module can acquire a navigation plan set by the AUV navigation terminal, sensor parameters and fault parameters related to the strapdown inertial navigation system and the like by establishing socket connection; and the strapdown inertial navigation resolving information can be transmitted to the AUV navigation terminal in real time.
Wherein, GPS simulator includes: the system comprises a user interface module, a communication module, a carrier motion model, a satellite trajectory generator, a visible star forecasting module, an optimal star determining module, a GPS noise and fault generating module, a receiving point position resolving module and a communication module. Navigation parameters and fault parameters of the GPS simulator can be set by a user interface module of the simulator, and can also be set in an AUV navigation terminal; the motion simulation module simulates carrier position, speed, acceleration and attitude information according to the navigation plan and the operation environment; the satellite trajectory generator calculates the instantaneous position of the satellite from ephemeris, and the visible star prediction module predicts visible stars by combining the motion information of the carrier and determines the best four stars; GPS noise and faults can be generated by the simulator fault generation module or the AUV navigation terminal and are introduced into the optimal point position information obtained by the receiving point position resolving module through pseudo-range calculation; the communication module can acquire a navigation plan set by the AUV navigation terminal, sensor parameters and fault parameters related to a GPS system and the like by establishing socket connection; and the position and speed information resolved by the GPS can be transmitted to the AUV navigation terminal in real time.
In the invention, the SINS, the GPS and the DVL simulator establish socket connection with the AUV navigation terminal through an IP network, wherein the DVL simulator is in the same PC with the AUV navigation terminal in the invention because the module function is single. The three simulators can be used for setting navigation parameters and error models by the AUV navigation terminal, and can be used for triggering sudden change and slow change faults by a fault generation module of the AUV navigation terminal.
The invention has the advantages that the combination relation among the modules is based on the principle of low coupling, reusability and easy expansion and the idea of plug and play is used for designing the AUV intelligent fault-tolerant integrated navigation system, and the multi-user multi-task parallel operation is possible based on the simulation environment of the IP network, thereby effectively solving the problem that the traditional RS232 serial communication design is limited by the number of serial ports, ensuring the independent working characteristics of each navigation subsystem, fundamentally reflecting the actual working environment by the idea of plug and play, making deep early-stage preparation for IP and networking of navigation equipment and having engineering application value.
(IV) description of the drawings
FIG. 1 is a simulation structure diagram of the AUV intelligent fault-tolerant integrated navigation system in the present invention.
FIG. 2 is a schematic diagram of an intelligent fault-tolerant combination module according to the present invention.
FIG. 3 is a software design flow chart of the AUV intelligent fault-tolerant integrated navigation simulation system according to the present invention.
FIG. 4 is a diagram of a GPS simulator according to the present invention.
FIG. 5 is a diagram of the SINS simulator according to the present invention.
(V) detailed description of the preferred embodiments
The invention will now be described in more detail by way of example with reference to the accompanying drawings in which:
with reference to fig. 1, the AUV intelligent combined fault-tolerant simulation system is composed of four parts, namely, a strapdown inertial navigation simulator, a GPS simulator, a DVL simulator and an AUV navigation terminal. The AUV navigation terminal is composed of: a) the system comprises an AUV motion track generator, a b) fault generator, a c) intelligent fault-tolerant integrated navigation module, a d) track generation module, an e) user interface terminal and a f) communication module. The user interface terminal provides friendly information interaction environments such as navigation plan setting, sensor parameter setting, fault setting, track display and the like; the AUV motion trail generator simulates position, speed, acceleration and attitude information of the AUV in a sea wave swing state according to a navigation plan set by a user; the fault generator is responsible for triggering strapdown inertial navigation, a GPS and DVL sudden change and slow change faults; the intelligent fault-tolerant integrated navigation module carries out fault detection and information fusion through the SINS position, speed and attitude information, the GPS position and speed information and the DVL speed information which are collected in real time, and finally outputs effective navigation information; the track generation module draws a navigation curve in real time according to the sensor data and the final combined data; the communication module carries out information real-time interaction with other simulators through an IP network. The DVL simulator simulates DVL speed information according to the motion trail generator and is positioned in the same PC with the AUV navigation terminal; the strapdown inertial navigation simulator and the GPS simulator are respectively connected with the AUV navigation terminal through a socket through an IP network, and parameter information is transmitted in real time in the navigation process.
FIG. 2 is a schematic diagram of an intelligent fault tolerant combination module. Firstly, the rationality and consistency of the information of each navigation subsystem are checked, the information of each sub-combination system is fused, and then fault detection and system reconstruction are carried out. In order to enable residual error and double-state detection to judge a fault source, a 9-order filter is designed to acquire combined position information by taking a strapdown inertial navigation and GPS position information difference as an observed quantity for an SINS/GPS combined navigation module; and taking the difference between strapdown inertial navigation and GPS speed information as an observed quantity, and designing a 7-order filter to acquire combined speed information so as to analyze the position or speed information of the fault source. Aiming at an SINS/GPS/DVL integrated navigation module, taking the difference between strapdown inertial navigation and GPS position information as an observed quantity, and designing a 9-order filter to acquire integrated position information; taking the difference between strapdown inertial navigation and DVL speed information as an observed quantity, and designing a 7-order filter to obtain combined speed information; aiming at an SINS/DVL integrated navigation system, a 13-order simulator is designed by taking the speed information difference between strapdown inertial navigation and DVL as an observed quantity. The state variable can be selected according to a strapdown inertial navigation error motion equation and a DVL error model.
The DVL error model is:
the strapdown inertial navigation error equation is as follows:
1) the system state equation for establishing the SINS/DVL13 order integrated navigation system state equation is as follows:
W＝[0 0 ax ay 0 0 0 wx wy wz wd wΔ 0]T
the measurement equation of the system is as follows:
the discrete equation is:
wherein, XkIs an estimated state; wkIs a noise sequence; phik，k-1Is tk-1To tkTransferring arrays in one step at any time; gamma-shapedk-1Driving the array for system noise; hkIs a measuring array; vkTo measure the noise sequence;
δ λ represents a latitude, longitude error; delta Vx，δVyRepresenting east and north speed errors; vx，VyRepresenting east and north speeds; phi is ax，φyRepresenting a north, east horizontal misalignment angle; phi is azIndicating an azimuth misalignment angle; epsilonx，εy，εzRepresenting a gyro drift; delta VdRepresenting a doppler velocity offset error; δ Δ represents the drift angle error; error of scale coefficient δ C, Vdx VdyIs the northeast speed of the DVL.
2) The SINS/DVL7 order Kalman filter established by taking the speed error as an observed quantity has the following forms of state equation and measurement equation, and epsilon is omitted due to the fact that the observability degree of the heaven-directional gyro drift is lowzItem (1):
X＝[δVx δVy φx φy φz εx εy]T
the measurement equation of the system is as follows:
H＝[I2×2 02×5]
3) the SINS/GPS9 order Kalman filter established by taking the position error as an observed quantity has the following forms of state equation and measurement equation
The measurement equation of the system is as follows:
H＝[I2×2 02×7]
wherein,
λgythe information is the latitude and longitude of the GPS.
4) The SINS/GPS7 order Kalman filter established by taking the speed error as an observed quantity has the following forms of state equation and measurement equation:
X＝[δVx δVy φx φy φz εx εy]T
the measurement equation of the system is as follows:
H＝[I2×2 02×5]
wherein, Vgx VgyIs the northeast speed of the DVL.
5) Residual error x used by intelligent fault-tolerant integrated navigation system2Two states x2The method, fault discrimination and system reconstruction are algorithms well known to researchers in the field.
FIG. 3 is a software design flow chart of the AUV intelligent fault-tolerant simulation system. Firstly, a user enters an AUV navigation terminal friendly interface and sets track information; the user selects the subsystem needing information fusion, and sets the communication information of the corresponding subsystem, including IP address and port number information, error parameter setting and fault parameter setting, and the sub-navigation system has plug-and-play performance for the AUV navigation terminal system; after a user initiates a navigation starting command, the AUV intelligent fault-tolerant integrated navigation terminal establishes socket connection with each navigation subsystem, and meanwhile, each navigation subsystem acquires relevant information such as track information, sensor error parameters, fault parameters and the like to perform navigation resolving; the AUV navigation system reads navigation parameters of a navigation subsystem in real time according to sampling frequency; then entering an intelligent fault-tolerant integrated navigation module, and firstly judging the rationality and consistency of subsystem parameters; entering a federal filtering packet combination system for information fusion; by residual x2Two states x2The method comprises the steps of judging faults; system reconfiguration; and outputting AUV navigation information. Wherein the navigation algorithm and the residual x2Two states x2The methods are all algorithms well known to those skilled in the art.
Fig. 4 is a diagram of a GPS simulator. After a communication module is added on the basis of the traditional GPS simulator, the GPS simulator mainly comprises the following modules: the system comprises a user interface module, a communication module, a carrier motion model, a satellite trajectory generator, a visible star forecasting module, an optimal star determining module, a GPS noise and fault generating module, a receiving point position resolving module and a communication module. The GPS simulator establishes socket connection through an IP network and performs information interaction with the AUV navigation terminal communication module. After the communication connection is established, the related parameters of the GPS simulator can be determined by a planned flight path, GPS error parameters and fault parameters which are set in the AUV navigation terminal module; the motion simulation module simulates carrier position, speed, acceleration and attitude information according to the navigation plan and the operation environment; the satellite trajectory generator calculates the instantaneous position of a satellite through ephemeris, the visible star prediction module predicts visible stars by combining carrier motion information, determines the best four stars, simulates GPS output, carries out navigation calculation according to pseudo range, simulates sudden change and slow change faults in position and speed according to data set in the fault generator, and transmits navigation information such as the position and speed calculated by the GPS simulator to the AUV navigation terminal in real time.
FIG. 5 is a strapdown inertial navigation simulator. After a communication module is added on the basis of the traditional strapdown inertial navigation simulator, the strapdown inertial navigation simulator mainly comprises the following modules: the system comprises a user interface module, a motion simulation module, an inertial sensor simulation module, a lever arm interference and noise generation module, a fault generation module, a navigation algorithm realization module and a communication module. And establishing socket connection through an IP network, and performing information interaction with the AUV navigation terminal communication module. After the communication connection is established, the related parameters of the strapdown inertial navigation simulator can be determined by a planned flight path set in the AUV navigation terminal module and error parameters and fault parameters of related sensors of the strapdown inertial navigation; the motion simulation module simulates the position, speed, acceleration and attitude information of the AUV in a sea wave swinging state according to a navigation plan and an operation environment; the lever arm interference and noise generation module simulates sensor errors according to installation errors, constant drift and random drift; the fault generation module can introduce sensor slow-changing and sudden-changing faults according to fault parameters set by the simulator or the AUV navigation terminal; meanwhile, the inertial sensor simulation module simulates an accelerometer and a gyroscope output value of the strapdown inertial navigation in real time under the condition; the navigation algorithm implementation module calculates the position, speed and attitude information of the carrier according to the acceleration information and the angular speed information output by the inertial sensor simulation module; and in the navigation process, the strapdown inertial navigation simulator transmits navigation information calculated by the strapdown inertial navigation simulator to the AUV navigation terminal in real time.
Claims (2)
1. The AUV intelligent fault-tolerant integrated navigation simulation system based on the network is characterized in that: the system is composed of a strapdown inertial navigation simulator, a GPS simulator, a DVL simulator and an AUV navigation terminal; the AUV navigation terminal is composed of: a) an AUV motion track generator, b) a fault generator, c) an intelligent fault-tolerant integrated navigation module, d) a track generation module, e) a user interface terminal and f) a communication module; the user interface terminal provides navigation plan setting, sensor parameter setting, fault setting and track display friendly information interaction environment; the AUV motion trail generator simulates position, speed, acceleration and attitude information of the AUV in a sea wave swing state according to a navigation plan set by a user; the fault generator is responsible for triggering strapdown inertial navigation, a GPS and DVL sudden change and slow change faults; the intelligent fault-tolerant integrated navigation module carries out fault detection and information fusion through the SINS position, speed and attitude information, the GPS position and speed information and the DVL speed information which are collected in real time, and finally outputs effective navigation information; the track generation module draws a navigation curve in real time according to the sensor data and the final combined data; the communication module carries out information real-time interaction with other simulators through an IP network; the DVL simulator simulates DVL speed information according to the motion trail generator and is positioned in the same PC with the AUV navigation terminal; the strapdown inertial navigation simulator and the GPS simulator are respectively connected with an AUV navigation terminal through a socket through an IP network, and parameter information is transmitted in real time in the navigation process;
the strapdown inertial navigation simulator comprises a user interface module, a motion simulation module, an inertial sensor simulation module, a lever arm interference and noise generation module, a fault generation module, a navigation algorithm realization module and a communication module; navigation parameters and fault parameters of the strapdown inertial navigation simulator are set by a user interface module of the strapdown inertial navigation simulator, or are set in an AUV navigation terminal; the motion simulation module simulates the position, speed, acceleration and attitude information of the AUV in a sea wave swinging state according to a navigation plan and an operation environment; the lever arm interference and noise generation module simulates sensor errors according to installation errors, constant drift and random drift; the fault generation module introduces sensor slow-changing and sudden-changing faults according to fault parameters set by a strapdown inertial navigation simulator or an AUV navigation terminal; meanwhile, the inertial sensor simulation module simulates an accelerometer and a gyroscope output value of the strapdown inertial navigation in real time under the condition; the navigation algorithm implementation module calculates the position, speed and attitude information of the carrier according to the acceleration information and the angular speed information output by the inertial sensor simulation module; the communication module acquires a navigation plan set by the AUV navigation terminal and sensor parameters and fault parameters related to the strapdown inertial navigation system by establishing socket connection; and transmitting the strapdown inertial navigation resolving information to the AUV navigation terminal in real time.
The GPS simulator comprises a user interface module, a communication module, a carrier motion model, a satellite trajectory generator, a visible star forecasting module, an optimal star determining module, a GPS noise and fault generating module, a receiving point position resolving module and a communication module; the navigation parameters and the fault parameters of the GPS simulator are set by a user interface module of the GPS simulator, or are set in an AUV navigation terminal; the motion simulation module simulates carrier position, speed, acceleration and attitude information according to the navigation plan and the operation environment; the satellite trajectory generator calculates the instantaneous position of the satellite from ephemeris, and the visible star prediction module predicts visible stars by combining the motion information of the carrier and determines the best four stars; GPS noise and faults are generated by a GPS noise and fault generation module of a GPS simulator or an AUV navigation terminal and are introduced into the optimal point position information obtained by a receiving point position resolving module through pseudo-range calculation; the communication module acquires a navigation plan set by the AUV navigation terminal and sensor parameters and fault parameters related to a GPS system by establishing socket connection; and transmitting the position and speed information resolved by the GPS to the AUV navigation terminal in real time.
2. The network-based AUV intelligent fault-tolerant integrated navigation simulation system according to claim 1, wherein: the DVL simulator generates speed information according to an AUV motion trail generator in the AUV navigation terminal and the set DVL error parameter, and meanwhile, a fault generation module simulates sudden change and slow change faults; the DVL simulator and the AUV navigation terminal are in the same PC.
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| CN102117071B (en) * | 2009-12-30 | 2013-03-06 | 中国科学院沈阳自动化研究所 | Multi-underwater robot semi-physical simulation system and control method thereof |
| CN102004447A (en) * | 2010-11-11 | 2011-04-06 | 西北工业大学 | Integrated-navigation and control hardware-in-the-loop simulation test system of underwater vehicle |
| CN102221363B (en) * | 2011-04-12 | 2012-12-19 | 东南大学 | Fault-tolerant combined method of strapdown inertial integrated navigation system for underwater vehicles |
| CN103064296B (en) * | 2011-10-21 | 2016-03-02 | 中国科学院沈阳自动化研究所 | A kind of underwater robot sub-control system |
| CN102506901B (en) * | 2011-11-25 | 2014-11-05 | 北京航空航天大学 | Multi-serial-port navigation information simulation integrated system |
| CN102654407B (en) * | 2012-04-17 | 2014-07-02 | 南京航空航天大学 | Multiple-fault detecting device and detecting method for tightly-integrated inertial satellite navigation system |
| CN103411609B (en) * | 2013-07-18 | 2016-03-02 | 北京航天自动控制研究所 | A kind of aircraft return route planing method based on online composition |
| CN103744098B (en) * | 2014-01-23 | 2017-03-15 | 东南大学 | AUV integrated navigation systems based on SINS/DVL/GPS |
| CN104503432B (en) * | 2014-11-27 | 2017-04-12 | 哈尔滨工程大学 | Autonomous underwater robot fault identification method based on wavelet energy |
| CN106896389B (en) * | 2015-12-18 | 2019-06-28 | 大唐半导体设计有限公司 | A kind of positioning constant speed calculation method of satellite navigation receiver |
| CN105547329B (en) * | 2016-01-11 | 2019-07-26 | 山东理工大学 | A kind of fault detection method applied to integrated navigation system |
| CN107478219B (en) * | 2017-06-27 | 2020-08-18 | 河北汉光重工有限责任公司 | Navigation method using deep sea compass system |
| CN108375971A (en) * | 2018-03-18 | 2018-08-07 | 哈尔滨工程大学 | Integrated Electronic System health control module and health control method for moonlet |
| 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 |
| CN110296701B (en) * | 2019-07-09 | 2022-12-13 | 哈尔滨工程大学 | Gradual fault backtracking fault tolerance method for inertial and satellite combined 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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