CN101788295A - Combined navigation system of small-scale underwater vehicle and method thereof - Google Patents
Combined navigation system of small-scale underwater vehicle and method thereof Download PDFInfo
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Abstract
The invention discloses a combined navigation system of small-scale underwater vehicle and a method thereof. The combined navigation system consists of a strap-down type inertial navigation system, a Doppler navigation system, a terrain aided navigation system and a magnetic compass. The method comprises the following steps: judging whether each navigation system operates normally through fault diagnosis, adopting a multi-level laminated structure, combining the features of each navigation sensor and obtaining high-precision navigation information for the combined navigation system through information fusion, thereby improving the precision of the combined navigation system. When certain navigation systems fail, the invention can realize the system reconstruction, so that the underwater vehicle can still operate. Therefore, the invention improves the reliability and usability of the combined navigation system of the small-scale underwater vehicle.
Description
Technical field
The present invention relates to a kind of integrated navigation system under water and method, particularly a kind of national naval of new generation waters operation small-scale underwater vehicle combined navigation system and method that is applicable to.
Background technology
Along with science and technology development, modern war has proposed renewal, higher requirement to weaponry, owing to be subjected to the restriction of waters operation condition, the employed submarine navigation device of special force can not accurately be located, greatly limited operational performance and effect.Navigational system must provide for a long time accurate attitude of aircraft, course, speed and positional information, and accurate homing capability also is the gordian technique that submarine navigation device is effectively used and reclaimed safely.Be subjected to the influence of factors such as the restriction of aircraft own vol, weight, energy service condition and the singularity of aqueous medium, military disguise, realize that the precision navigation of AUV is a difficult task.
At present, underwater navigation is developed with integrated navigation system to high precision, highly reliable, synthesization, intelligentized submarine navigation device by single navigate mode in the world; Information processing method is also by the processing of single data source, to the information fusion development of many navigation sensors multi-data source.Generally speaking, the developing direction of following underwater navigation has been represented in integrated navigation, has overcome the defective and the deficiency of traditional navigation, makes the underwater navigation field present brand-new looks, has incomparable vast potential for future development.
Continuous appearance along with multiple underwater navigation system, navigational system carries out the transition to the integrated navigation system of inertial navigation system, Doppler navigation system, aircraft set sensor system (dive instrument, magnetic course transmitter, wake flow meter are surveyed in depth measurement), Terrain-aided Navigation system, ultra-short baseline/long baseline integrated sonar navigation positioning system composition from previous fairly simple single navigational system.Along with to the accuracy requirement of integrated navigation system and improving constantly of service condition, also promoted the development of information fusion technology simultaneously.The U.S. in 1994 scale underwater vehicle combined navigation system that begins one's study classifies information fusion technology as one of 20 gordian techniquies of the primary study exploitation nineties, and classifies the category-A of override development as.The C3 technical committee (TPC3) that U.S. army NGO-laboratory director federation (JDL) divides into has set up information fusion expert group specially and has organized and instruct relevant work.As seen, the multi-sensor combined navigation technology has become a more and more important developing direction of high-performance underwater navigation under water.
Make submarine navigation device have high precision, high reliability and high availability, must make it have an architecture rationally and efficiently, realize each navigational system scheduling, use and merge with integrated navigation system.It is centralized and distributed that existing combined navigation system structure is mainly adopted, centralized configuration is exactly the measurement data of all navigational system all to be delivered to a center processor handle and merge, carry out data alignment, data are interconnected and filtering, this structure needs the very wide data transmission bus of frequency band to come the raw data of transmission of high-rate, the interconnected difficulty of data, and require system must possess jumbo ability, heavy computational burden, need central processing unit, so the viability of system is poor than strength reason ability; Existing distributed frame mainly adopts federal filter structure, as shown in Figure 1, be characterized in: the metrical information of n system is before being sent to senior filter, deliver to local filter earlier and carry out local Filtering Processing, then the information after handling with deliver to senior filter with reference to navigation system information and form the overall situation and estimate, improve the navigational system precision, though this structure is lower to the channel capacity requirement, in case lost efficacy then the inefficacy of whole navigational system with reference to navigational system.Therefore adopt centralized or distributed architecture, form the submarine navigation device integrated navigation system in conjunction with inertial navigation system, Doppler navigation system, Terrain-aided Navigation system and magnetic compass characteristics, can't satisfy being applicable to the naval of new generation waters operation needs of combined navigation system structure high precision, high reliability and high availability under water.
Summary of the invention
Technical matters: the present invention seeks to provides a kind of combined navigation system of small-scale underwater vehicle and method at the defective that prior art exists, and can realize high precision, high reliability and the high availability of integrated navigation system under water.
Technical scheme: the present invention adopts following technical scheme for achieving the above object:
Combined navigation system of small-scale underwater vehicle of the present invention,
When system broke down, described navigational system was made up of strap-down inertial navigation system, Doppler navigation system, Terrain-aided Navigation system and magnetic compass system, also comprised four fault diagnosises and four isolation modules; Wherein the Terrain-aided Navigation system is connected in series the input end that connects first isolation module, strap-down inertial navigation system and Doppler navigation system behind first fault diagnosis module respectively, magnetic compass system is connected in series the input end that connects second isolation module, strap-down inertial navigation system and Doppler navigation system behind second fault diagnosis module respectively, strap-down inertial navigation system connects the 3rd isolation module after being connected in series the 3rd fault diagnosis module, Doppler navigation system connects the 4th isolation module after being connected in series the 4th fault diagnosis module, and the 3rd fault diagnosis module is connected with the 4th fault diagnosis module;
When system's non-fault, be with reference to navigational system with strap-down inertial navigation system and Doppler navigation system respectively then, Terrain-aided Navigation system and magnetic compass system are that to set up two decentralized integrated navigation systems be strap-down inertial navigation system/Terrain-aided Navigation system/magnetic compass system integrated navigation system and Doppler navigation system/Terrain-aided Navigation system/magnetic compass system integrated navigation system to sub-navigational system;
(a) strap-down inertial navigation system/Terrain-aided Navigation system/magnetic compass system integrated navigation system is by strap-down inertial navigation system, the Terrain-aided Navigation system, magnetic compass system, two intelligent optimization algorithm modules, two subfilters and senior filter are formed, the output terminal of strap-down inertial navigation system connects the input end of two subfilters and senior filter respectively, the Terrain-aided Navigation system is connected in series the input end that connects the first intelligent optimization algorithm module and senior filter after first subfilter respectively, magnetic compass system is connected in series the input end that connects the second intelligent optimization algorithm module and senior filter after second subfilter respectively, the output terminal of senior filter is connected in series the input end that connects first subfilter after the first intelligent optimization algorithm module, the output terminal of senior filter is connected in series the input end that connects second subfilter after the second intelligent optimization algorithm module, the input end of the output termination strap-down inertial navigation system of senior filter;
(b) Doppler navigation system/Terrain-aided Navigation system/magnetic compass system integrated navigation system is by Doppler navigation system, the Terrain-aided Navigation system, magnetic compass system, two intelligent optimization algorithm modules, two subfilters and senior filter are formed, the output terminal of Doppler navigation system connects the input end of two subfilters and senior filter respectively, the Terrain-aided Navigation system is connected in series the input end that connects the first intelligent optimization algorithm module and senior filter after first subfilter respectively, magnetic compass system is connected in series the input end that connects the second intelligent optimization algorithm module and senior filter after second subfilter respectively, the output terminal of senior filter is connected in series the input end that connects first subfilter after the first intelligent optimization algorithm module, the output terminal of senior filter is connected in series the input end that connects second subfilter after the second intelligent optimization algorithm module, the input end of the output termination Doppler navigation system of senior filter.
A kind of small-scale underwater vehicle device Combinated navigation method adopts the multilevel hierarchy information fusion method to finish the high-precision integrated navigation system of small-scale underwater vehicle device with multistage multilayer topological type architecture, and the multilevel hierarchy information fusion method is realized through the following steps:
(1) at first to each navigational system, promptly strap-down inertial navigation system, Doppler navigation system, Terrain-aided Navigation system and magnetic compass system carry out the faults itself detection, when described system breaks down, then isolate this system; When described system does not break down, then change step (2);
(2) be with reference to navigational system with strap-down inertial navigation system and Doppler navigation system respectively, Terrain-aided Navigation system and magnetic compass system are that subsystem is set up two decentralized integrated navigation systems, obtain making up the inertial navigation system and the Doppler navigation system information of correction;
(3) utilize step (2) to obtain strap-down inertial navigation system and Doppler navigation system information, carry out the combination of strap-down inertial navigation system and Doppler navigation system, adopt the information fusion pattern of strap-down inertial navigation system and Doppler navigation system combined filter, merge the second level of realizing integrated navigation system, obtains the output of integrated navigation information.
Described system reconfiguration method is as follows: isolated when landform secondary navigation system and two systems of magnetic compass system break down, strap-down inertial navigation system and Doppler navigation system are formed integrated navigation system; When strap-down inertial navigation system occurring and the Doppler navigation system simultaneous faults is isolated, magnetic compass system and Terrain-aided Navigation service system are combined into integrated navigation system, the course attitude information that Terrain-aided Navigation system raising positional information and magnetic compass provide calculates the navigation information of aircraft, guiding aircraft safe navigation; When strap-down inertial navigation system and Doppler navigation system simultaneous faults not, having two navigational system to break down is isolated, this moment, combined navigation system of small-scale underwater vehicle can adopt strap-down inertial navigation system or Doppler navigation system and Terrain-aided Navigation system or magnetic compass composition integrated navigation system, navigated; When strap-down inertial navigation system or Doppler navigation system non-fault, other three navigational system break down when being isolated, and this combined navigation system of small-scale underwater vehicle can adopt strap-down inertial navigation system or Doppler navigation system to navigate.
Strap-down inertial navigation system utilizes strapdown to resolve to obtain the navigation information of carrier; Doppler navigation system carries out velocity calculated, obtains navigation information; Error to strap-down inertial navigation system sum of errors Doppler navigation system is carried out modeling, set up system state equation, estimate the margin of error of inertial navigation system and Doppler navigation system by integrated kalman filter, then two systems are carried out feedback compensation, revise the error of strap-down inertial navigation system and Doppler navigation system.
Beneficial effect: the present invention's advantage compared with prior art is:
(1) the present invention is directed to that the triangular web architecture is simple, the problem of reliabilty and availability difference, advantage in conjunction with each navigational system is carried out integrated navigation, integrated navigation system is carried out fault diagnosis and information fusion, be implemented in isolated fault system under the partial system failure situation, finish system reconfiguration, navigation is worked on, improved the reliabilty and availability of integrated navigation system.
(2) the present invention is directed to centralized and distributed frame deficiency in the existing integrated navigation architecture, adopt a kind of architecture of multilevel hierarchy, be main system with strap-down inertial navigation system and Doppler navigation system respectively, Terrain-aided Navigation system and magnetic compass system are that sub-navigational system is set up two decentralized integrated navigation systems, adopt strap-down inertial navigation system and Doppler navigation system information fusion pattern again, obtain high-precision position, speed and attitude course information, improve the integrated navigation system precision.
Description of drawings
Fig. 1 is existing integrated navigation system structural drawing;
Fig. 2 is a multilevel hierarchy combined navigation system of small-scale underwater vehicle system assumption diagram of the present invention;
Fig. 3 is strap-down inertial navigation system of the present invention/Terrain-aided Navigation system/magnetic compass integrated navigation system structural drawing;
Fig. 4 is Doppler navigation system of the present invention/Terrain-aided Navigation system/magnetic compass integrated navigation system structural drawing;
Fig. 5 is strap-down inertial navigation system of the present invention/Doppler navigation system Information Fusion figure.
Number in the figure: SINS strap-down inertial navigation system, DNS Doppler navigation system, TAN Terrain-aided Navigation system, MCP magnetic compass system.
Embodiment
The present invention is described in more detail below in conjunction with accompanying drawing
As shown in Figure 2, the present invention is made up of strap-down inertial navigation system, Doppler navigation system, Terrain-aided Navigation system, magnetic compass system four systems.Terrain-aided Navigation system and magnetic compass provide aircraft position, attitude and course information, form two federal textural association navigational system for strap-down inertial navigation system and Doppler navigation system the information transmission of Terrain-aided Navigation system and magnetic compass system, carry out information fusion output precise navigation information by strap-down inertial navigation system and Doppler navigation system again.Adopt the multilevel hierarchy information fusion method to realize the combined navigation system of small-scale underwater vehicle architecture through the following steps:
(1) at first carries out fault detect, determine the availability of each system;
Combined navigation system of small-scale underwater vehicle is taken all factors into consideration the reliabilty and availability of underwater navigation system, each navigational system adopts fault detection algorithm to carry out faults itself and detects, determine whether strap-down inertial navigation system, Doppler navigation system, Terrain-aided Navigation system and magnetic compass system break down, it is the availability of each separate payment, if certain system failure is then isolated this system, when having the part system to break down, realize navigational system reconstruct, guarantee underwater navigation system operate as normal by isolation; Carry out following steps under each system's non-failure conditions and realize multistage multilayer topological structure;
(2) when system's non-fault, be with reference to navigational system with strap-down inertial navigation system and Doppler navigation system respectively, Terrain-aided Navigation system and magnetic compass system are that sub-navigational system is set up two decentralized integrated navigation systems;
During the system non-fault, because strap-down inertial navigation system and Doppler navigation system are exported more than the navigation information and operational reliability is high, be with reference to navigational system with strap-down inertial navigation system and Doppler navigation system respectively then, Terrain-aided Navigation system and magnetic compass system are that sub-navigational system is set up two decentralized integrated navigation systems, strap-down inertial navigation system/Terrain-aided Navigation system/magnetic compass system integrated navigation system 1 and Doppler navigation system/Terrain-aided Navigation system/magnetic compass system integrated navigation system 2.First integrated navigation system as shown in Figure 3, be one and take the boat system as the leading factor with inertial navigation system, with Terrain-aided Navigation system and magnetic compass system be sub-navigational system the federal filter construction of two-stage boss, inertial navigation system can provide position, speed and attitude information; The Terrain-aided Navigation system can provide aircraft longitude and latitude and elevation information; Aircraft is carried magnetic compass can provide attitude and course information, Terrain-aided Navigation systematic observation information output frequency is lower, and strap-down inertial navigation system output information frequency is higher, therefore, when not having the Terrain-aided Navigation system output information, then the output of subfilter to senior filter is disconnected, and senior filter calculates according to strap-down inertial navigation system; When the landform secondary navigation system has observation information, with merging mutually with strap-down inertial navigation system output information for information about of subfilter output, adopt intelligent optimization algorithm to carry out the replacement of subfilter, so that when the information of Terrain-aided Navigation systematic observation next time arrives, carry out computing.Aircraft is carried the subfilter of magnetic compass system and inertial navigation system composition, and its structure is identical with strap-down inertial navigation system/Terrain-aided Navigation system in combination, carries out information fusion and forms combined navigation system of small-scale underwater vehicle.This is a two-stage decision system, finish the feature extraction of each navigational system by the first order (subfilter), and the system that each proper vector is divided into different characteristic is carried out the first order merge, use association process to carry out judgement and output that optimum fusion is finished navigation information again.Another decentralized integrated navigation system as shown in Figure 4, its structure is identical with strap-down inertial navigation system/Terrain-aided Navigation system/magnetic compass system integrated navigation system structure, adopt Doppler navigation system to take the boat system as the leading factor, Terrain-aided Navigation system and magnetic compass system are sub-navigational system, subfilter merges according to the characteristic information that each secondary navigation system provides, and, realize high-precision secondary integrated navigation system feedback of status correction main system.
(3) finish and carry out strap-down inertial navigation system/Doppler navigation system combination after two integrated navigation system information fusion of back again, utilize the strap-down inertial navigation system that back obtains and the navigation information of Doppler navigation system, adopt strap-down inertial navigation system and doppler navigation system error combinations of states pattern, realize the partial information fusion of integrated navigation system, obtain precise navigation information output, finish the small-scale underwater vehicle device with multistage topological type architecture.
Strap-down inertial navigation system/Doppler navigation system information fusion pattern as shown in Figure 5, strap-down inertial navigation system utilizes strapdown to resolve to obtain the navigation information of carrier; Doppler navigation system system sonar voyage of discovery device the three-dimensional velocity relative and seabed is resolved the navigation information that obtains carrier; Range rate error to strap-down inertial navigation system sum of errors Doppler navigation system carries out modeling, sets up system state equation, estimates the error of strap-down inertial navigation system and Doppler navigation system by integrated kalman filter.Thus, finish the small-scale underwater vehicle device, under system's non-failure conditions, can obtain high-precision combined navigation system of small-scale underwater vehicle navigation information with multistage multilayer topology gonosome architecture.
When system broke down by isolation, the navigational system among the present invention can guarantee underwater navigation system operate as normal by system reconfiguration, the output navigational parameter.Under the prior art situation, adopt federal filter structure to have only one with reference to navigational system, whole integrated navigation system will lose efficacy when breaking down with reference to navigational system, can't finish navigation task, two the present invention utilize remaining intact navigational system realization system reconfiguration to set up integrated navigation system in the situation that has navigational system to lose efficacy.Under any one navigational system failure condition, as: when strap-down inertial navigation system, Doppler navigation system, Terrain-aided Navigation system and the some systems of magnetic compass system break down and are isolated, three remaining systems make up, can guarantee that the two-stage filter structure is effective, integrated navigation system output precise navigation information; Under landform secondary navigation system and two systems of magnetic compass system broke down by isolated instances, strap-down inertial navigation system and Doppler navigation system can be formed high-precision integrated navigation system; When strap-down inertial navigation system and the segregate emergency condition of Doppler navigation system simultaneous faults occurring, Terrain-aided Navigation system and magnetic compass system are combined into integrated navigation system 3, use the positional information of Terrain-aided Navigation system and the course attitude information of magnetic compass system to guide the aircraft safe navigation to the destination; When inertial navigation system and Doppler navigation system not simultaneously under the failure condition, having two navigational system to break down is isolated, this moment, integrated navigation system can adopt strap-down inertial navigation system or Doppler navigation system and Terrain-aided Navigation system or magnetic compass system composition integrated navigation system under water, navigated; When strap-down inertial navigation system or Doppler navigation system non-fault, other three navigational system break down when being isolated, and this moment, integrated navigation system can adopt strap-down inertial navigation system or Doppler navigation system to navigate under water.
This system has very strong fault-tolerant and information fusion ability, can improve reliability, availability and the navigation accuracy of the navigational system of small-scale underwater vehicle device greatly.Use this architecture can satisfy the security and the reliability of small-scale underwater vehicle device navigation, can determine whether fault of each sub-navigational system, remove the dangerous condition so that in time repair by fault detect.
The content that is not described in detail in the instructions of the present invention belongs to this area professional and technical personnel's known prior art.
Claims (4)
1. combined navigation system of small-scale underwater vehicle is characterized in that:
When system broke down, described navigational system was made up of strap-down inertial navigation system, Doppler navigation system, Terrain-aided Navigation system and magnetic compass system, also comprised four fault diagnosises and four isolation modules; Wherein the Terrain-aided Navigation system is connected in series the input end that connects first isolation module, strap-down inertial navigation system and Doppler navigation system behind first fault diagnosis module respectively, magnetic compass system is connected in series the input end that connects second isolation module, strap-down inertial navigation system and Doppler navigation system behind second fault diagnosis module respectively, strap-down inertial navigation system connects the 3rd isolation module after being connected in series the 3rd fault diagnosis module, Doppler navigation system connects the 4th isolation module after being connected in series the 4th fault diagnosis module, and the 3rd fault diagnosis module is connected with the 4th fault diagnosis module;
When system's non-fault, be with reference to navigational system with strap-down inertial navigation system and Doppler navigation system respectively then, Terrain-aided Navigation system and magnetic compass system are that to set up two decentralized integrated navigation systems be strap-down inertial navigation system/Terrain-aided Navigation system/magnetic compass system integrated navigation system and Doppler navigation system/Terrain-aided Navigation system/magnetic compass system integrated navigation system to sub-navigational system;
(a) strap-down inertial navigation system/Terrain-aided Navigation system/magnetic compass system integrated navigation system is by strap-down inertial navigation system, the Terrain-aided Navigation system, magnetic compass system, two intelligent optimization algorithm modules, two subfilters and senior filter are formed, the output terminal of strap-down inertial navigation system connects the input end of two subfilters and senior filter respectively, the Terrain-aided Navigation system is connected in series the input end that connects the first intelligent optimization algorithm module and senior filter after first subfilter respectively, magnetic compass system is connected in series the input end that connects the second intelligent optimization algorithm module and senior filter after second subfilter respectively, the output terminal of senior filter is connected in series the input end that connects first subfilter after the first intelligent optimization algorithm module, the output terminal of senior filter is connected in series the input end that connects second subfilter after the second intelligent optimization algorithm module, the input end of the output termination strap-down inertial navigation system of senior filter;
(b) Doppler navigation system/Terrain-aided Navigation system/magnetic compass system integrated navigation system is by Doppler navigation system, the Terrain-aided Navigation system, magnetic compass system, two intelligent optimization algorithm modules, two subfilters and senior filter are formed, the output terminal of Doppler navigation system connects the input end of two subfilters and senior filter respectively, the Terrain-aided Navigation system is connected in series the input end that connects the first intelligent optimization algorithm module and senior filter after first subfilter respectively, magnetic compass system is connected in series the input end that connects the second intelligent optimization algorithm module and senior filter after second subfilter respectively, the output terminal of senior filter is connected in series the input end that connects first subfilter after the first intelligent optimization algorithm module, the output terminal of senior filter is connected in series the input end that connects second subfilter after the second intelligent optimization algorithm module, the input end of the output termination Doppler navigation system of senior filter.
2. small-scale underwater vehicle device Combinated navigation method, it is characterized in that: adopt the multilevel hierarchy information fusion method to finish the high-precision integrated navigation system of small-scale underwater vehicle device with multistage multilayer topological type architecture, the multilevel hierarchy information fusion method is realized through the following steps:
(1) at first to each navigational system, promptly strap-down inertial navigation system, Doppler navigation system, Terrain-aided Navigation system and magnetic compass system carry out the faults itself detection, when described system breaks down, then isolate this system; When described system does not break down, then change step (2);
(2) be with reference to navigational system with strap-down inertial navigation system and Doppler navigation system respectively, Terrain-aided Navigation system and magnetic compass system are that subsystem is set up two decentralized integrated navigation systems, obtain making up the inertial navigation system and the Doppler navigation system information of correction;
(3) utilize step (2) to obtain strap-down inertial navigation system and Doppler navigation system information, carry out the combination of strap-down inertial navigation system and Doppler navigation system, adopt the information fusion pattern of strap-down inertial navigation system and Doppler navigation system combined filter, merge the second level of realizing integrated navigation system, obtains the output of integrated navigation information.
3. a kind of small-scale underwater vehicle device Combinated navigation method according to claim 2, it is characterized in that: described system reconfiguration method is as follows: isolated when landform secondary navigation system and two systems of magnetic compass system break down, strap-down inertial navigation system and Doppler navigation system are formed integrated navigation system; When strap-down inertial navigation system occurring and the Doppler navigation system simultaneous faults is isolated, magnetic compass system and Terrain-aided Navigation service system are combined into integrated navigation system, the course attitude information that Terrain-aided Navigation system raising positional information and magnetic compass provide calculates the navigation information of aircraft, guiding aircraft safe navigation; When strap-down inertial navigation system and Doppler navigation system simultaneous faults not, having two navigational system to break down is isolated, this moment, combined navigation system of small-scale underwater vehicle can adopt strap-down inertial navigation system or Doppler navigation system and Terrain-aided Navigation system or magnetic compass composition integrated navigation system, navigated; When strap-down inertial navigation system or Doppler navigation system non-fault, other three navigational system break down when being isolated, and this combined navigation system of small-scale underwater vehicle can adopt strap-down inertial navigation system or Doppler navigation system to navigate.
4. a kind of small-scale underwater vehicle device Combinated navigation method according to claim 2 is characterized in that: strap-down inertial navigation system utilizes strapdown to resolve to obtain the navigation information of carrier; Doppler navigation system carries out velocity calculated, obtains navigation information; Error to strap-down inertial navigation system sum of errors Doppler navigation system is carried out modeling, set up system state equation, estimate the margin of error of inertial navigation system and Doppler navigation system by integrated kalman filter, then two systems are carried out feedback compensation, revise the error of strap-down inertial navigation system and Doppler navigation system.
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