CN104482943B - On-line calibration method for scalefactorerror of DVL (Doppler velocity log) - Google Patents
On-line calibration method for scalefactorerror of DVL (Doppler velocity log) Download PDFInfo
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- CN104482943B CN104482943B CN201410808250.8A CN201410808250A CN104482943B CN 104482943 B CN104482943 B CN 104482943B CN 201410808250 A CN201410808250 A CN 201410808250A CN 104482943 B CN104482943 B CN 104482943B
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- dvl
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- factor error
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention discloses an on-line calibration method for a scalefactor error of a DVL (Doppler velocity log).A circular trace is adopted to enable an underwater vehicle to cyclically operate for 360 degrees, the underwater vehicle inevitably passes four positions including due east, due west, due south and due north during operation of a circle of circular trace, time periods of the vehicle passing the four positions are determined by a LBL (long base line) acoustic navigation system, decoupling of the scalefactor error of the DVL and a compass course error in a DR (dead reckoning) process is realized, and the scalefactor error of the DVL is calibrated on line according to navigation results of DR and LBL. The on-line calibration method for the scale factor error of the DVL has the advantages of simplicity, convenience, effectivity and only requirement for positional information and is suitable for on-line calibration of the DVL scalefactor error for the underwater vehicle.
Description
Technical field
The present invention relates to a kind of Doppler log scale factor error online calibration method, belong to acoustic measurement field,
The certainty of measurement of DVL and the navigation accuracy of underwater carrier DR can be improved.It is applied to underwater carrier DVL scale factor error to mark online
Determine and compensate.
Background technology
Have the advantages that independent, frequency is high based on the dead reckoning of DVL and compass, be that a kind of underwater carrier is commonly used
Air navigation aid.But the error being individually present due to DVL and compass, dead reckoning result can rapid divergence over time, reduce
Navigation accuracy.Dead reckoning and sound system (as LBL) is generally adopted to be combined navigating the mistake of effective restraint dead reckoning
Difference dissipates, and improves navigation accuracy, but during combined filter, the parameter such as DVL scale factor error is relatively low due to observability
Can not estimate well.Underwater environment is complicated, sound system due to operating distance limit and underwater obstacle interference etc. because
Interrupting often occurs in element, and dead reckoning now can only be relied on to be navigated.Therefore, fundamentally improve dead reckoning navigation precision
Significant.
Dead reckoning navigation precision directly depends on the device precision of DVL and compass.DVL error mainly have constant error,
Scale factor error and bias current angle error, wherein constant error preferably can be solved by off-line calibration, and bias current angle error is led to
Crossing is tested the speed using four wave beams of James's configuration also can solve, and scale factor error is an arbitrary constant, work of starting shooting every time
Will be different, it is the main error of DVL.Compass error is mainly course angle error.In dead reckoning, it is relative that DVL records
Speed V of carrier systembThe attitude angular projection being recorded by compass obtains speed V under system of navigatingn, this makes both errors deposit
In coupled relation, it is that the demarcation of DVL scale factor error increased difficulty.In addition underwater environment is complicated and changeable, available information
Few, scaling method can be very limited.How DVL error during DR and compass error to be carried out decoupling to separate, and to DVL
It is a difficult point and urgent problem that scale factor error carries out on-line proving.
Content of the invention
The purpose of the present invention：Fully take into account the few situation of underwater environment available information, propose a kind of Doppler and have the records of distance by the log
Instrument scale factor error online calibration method, the positional information that the method provides merely with LBL, runs circular trace in carrier
When, judge due east, due west, due south and positive north four direction, realize DVL scale factor error and compass course mistake during DR
The decoupling of difference, and on-line proving is carried out to DVL scale factor error.
The technical solution of the present invention is：A kind of Doppler log scale factor error online calibration method, it is special
Levy and be：Make underwater carrier cycle run 360 ° using circular trace, the operation of one week circular trace necessarily passes due east, just
West, due south and four positions of positive north, by Long baselines (LBL) acoustic navigation system judge carrier pass through this four direction when
Between section, realize the decoupling of Doppler log (DVL) scale factor error and compass course error during dead reckoning (DR),
And using the navigation results of DR and LBL, on-line proving is carried out to DVL scale factor error, comprise the following steps：
(1) carrier runs a circular trace；
(2) T calculates DR and LBL respective navigation position change information in this time interval at a time interval；
(3) using LBL positional information, the due east of carrier running orbit, due west, due south and direct north are judged, and
Calculate DVL scale factor error；
(4) when the carrier calculating in (3) being located at due east, due west, due south and positive north, DVL scale factor error calibration value is asked
Averagely, obtain final calibration result.
The principle of the present invention：In the dead reckoning navigation based on DVL and compass, generally utilize compass measurement course and
Speed V of the coordinate system relative to the earth that DVL is measured by horizontal attitudebProject to navigation coordinate to fasten, then carry out position resolving, obtain
To carrier positions information.Ignore high-speed channel, if the carrier system lower edge carrier dextrad that records of DVL, the speed of forward direction are respectivelyThe speed decomposing navigation system along east orientation and north orientation is respectively VE, VN.Because DVL has scale factor error, actual
Measured value is as shown in (1) formula.
Wherein δ C is DVL scale factor error, VxAnd VyIt is respectively dextrad and forward speed true value under carrier system.
When carrier is in due east, due west or due south, positive north, the resolution of velocity that DVL records to navigation system under as formula (2)-
(5) shown in.
Wherein ψ is course angle true value, is the just course angle error that δ ψ records for compass counterclockwise.
By formula (2), (3) or formula (4), (5) as can be seen that carrier is when navigating by water along east and west direction, east orientation speed error
Only determined by the scale factor error of DVL, and unrelated with the course error of compass.When navigating by water along due south and direct north,
North orientation speed error is only determined by the scale factor error of DVL, and unrelated with the course error of compass.
Now, by can be in the hope of the east orientation of carrier, north orientation displacement component S to rate integratingE、SN, this displacement information only wraps
The displacement error that calibration factor containing DVL causes.
Wherein t is the time；T is the time interval of computing scale factor error.
Meanwhile, the position not affected by DVL scale factor error and compass course error by acoustic navigation system
Confidence ceases, and in time interval T, the positional information that former and later two measurement points record subtracts each other the position that can obtain in measurement interval T
Shifting amount, that is,：
Wherein SETAnd SNTThe east orientation recording for acoustic navigation system and north orientation displacement；λ and L is longitude and latitude information；R
For earth radius.
Formula (8) is obtained by formula (6), (7) simultaneous：
From formula (8), by ask for along due east, due west, due south or direct north navigate by water when displacement error, can be anti-
Push away and obtain scale factor error δ C, that is,.
Wherein δ CEThe scale factor error recording for East and West direction；δCNThe scale factor error recording for north-south.
Formula (9) is analyzed understand, when carrier course is respectively towards due east, due west, the displacement S in its north-southNT's
Theoretical true value is 0.In systems in practice, SNTComprise to measure random error, be a smaller value not exclusively for 0, now north and south
To the δ C calculatingNA peak value can be obtained, and the δ C that East and West direction calculatesEFor the calibration value of scale factor error δ C, its absolute value is little
In 1.In the same manner, carrier can be judged towards the value of δ C during North and South direction.
Carrier course in cycle one week changes 360 °, wherein must be through due east, due west, due south, four sides of positive north
To.In the process, according to formula (9), T carrys out continuous computing scale factor error at a time interval, records in combination with LBL
High precision position information to judge due east, due west, due south, positive north four direction, obtain DVL scale factor error calibration value.
Specific experiment scheme is as shown in Figure 1.In figure L is that carrier calculates, in DVL scale factor error δ C, the arc running in time interval T
Long；R is circular trace radius；α is to calculate the corresponding angle of δ C segmental arc.When calculating δ C, segmental arc L is processed as straightway,
So more little the calculating in theory of α will be more accurate.If TcircleRun the time used by circular trace, the carrier speed of service for carrier
For V, it is T that δ C calculates time interval, then L, R and α are determination value, respectively as shown in formula (10)-(12).
L=VT (10)
From formula (12), TcircleDirectly determine the size of α, namely the size determining δ C with T.In practical application
When, T can be selected in conjunction with practical situationcircleSize, so that it is determined that circular trace radius size, and T can be in TcircleAfter determination
Suitably choose.
Present invention advantage compared with prior art is：
(1) on-line proving can be carried out to DVL scale factor error merely with LBL positional information.
(2) during realizing DR using circular trace, DVL scale factor error separates with the decoupling of compass course error.
Brief description
Fig. 1 is DVL scale factor error scaling scheme schematic diagram；
Fig. 2 is that the DVL scale factor error of the present invention demarcates flow chart.
Specific embodiment：
Fig. 2 is that DVL scale factor error demarcates flow chart, point following step：
(1) carrier runs a circular trace.
Underwater carrier can be according to place size under water, and the factor such as time-consuming length cooks up a circular trace.Typically under water
Carrier movement constant airspeed, track determines namely carrier running time TcircleDetermine.
(2) T calculates DR and LBL respective navigation position change information in this time interval at a time interval；
According to DVL scale factor error calibration principle, when carrier runs circular trace, DVL calibration factor calculates the time
Interval T can not be too big.But too little due east, due west, due south and positive north can not be identified because LBL navigation accuracy makes T obtain.So
T to be combinedcircleSelect suitable calculating time interval T with LBL positioning precision.Afterwards, constantly calculate DR in time interval T
With LBL change in location information.
(3) using LBL positional information, the due east of carrier running orbit, due west, due south and direct north are judged, and
Calculate DVL scale factor error；
It is analyzed from DVL scale factor error calculating formula formula (9), when carrier course is respectively towards due east, due west,
The displacement S in its north-southNTTheoretical true value be 0.In systems in practice, SNTComprise to measure random error, be one not exclusively
Smaller value for 0, the δ C that now north-south calculatesNA peak value can be obtained, and the δ C that East and West direction calculatesEFor scale factor error δ
The calibration value of C, its absolute value is less than 1.In the same manner, carrier can be judged towards the value of δ C during North and South direction.Formula can be passed through
(13) DVL scale factor error calibration value is carried out choosing judging.
(4) when the carrier calculating in (3) being located at due east, due west, due south and positive north, DVL scale factor error calibration value is asked
Averagely, obtain final calibration result.
The DVL scale factor error δ C of the due east obtaining by formula (9), due west, due south and positive north four direction is averaged
Value, obtains final calibration value.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (3)
1. a kind of Doppler log scale factor error online calibration method is it is characterised in that comprise the following steps：
(1) carrier runs a circular trace；
(2) T calculates DR and LBL respective navigation position change information in this time interval at a time interval；
(3) using LBL positional information, the due east of carrier running orbit, due west, due south and direct north are judged, and calculate
DVL scale factor error；
(4) when the carrier calculating in (3) being located at due east, due west, due south and positive north, DVL scale factor error calibration value asks flat
All, obtain final calibration result.
2. Doppler log scale factor error online calibration method according to claim 1 it is characterised in that：For protecting
Card calibration factor stated accuracy, the time that carrier runs used by circular trace is more than 200 seconds.
3. Doppler log scale factor error online calibration method according to claim 1 it is characterised in that：Using
When due east, due west, due south and direct north motion, East and West direction scale factor error δ CEWith north-south scale factor error δ CNPoint
The feature of peak value does not occur, carrier running orbit due east, due west, due south and direct north are judged.
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| CN111947682B (en) * | 2020-07-10 | 2023-10-20 | 中国航空工业集团公司西安飞行自动控制研究所 | Doppler calibration method applied to underwater navigation system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103017755A (en) * | 2012-11-26 | 2013-04-03 | 哈尔滨工程大学 | Measuring method for underwater navigation attitudes |
| CN103090884A (en) * | 2013-02-19 | 2013-05-08 | 哈尔滨工程大学 | SINS (Strapdown Inertial Navigation System)-based method for restraining velocity measuring error of DVL (Doppler Velocity Log) |
| CN103163508A (en) * | 2013-02-01 | 2013-06-19 | 中国人民解放军国防科学技术大学 | Doppler velocity log (DVL) parameter calibration method used for integrated navigation system of underwater inertial navigation system (INS) and DVL |
| CN103278163A (en) * | 2013-05-24 | 2013-09-04 | 哈尔滨工程大学 | Nonlinear-model-based SINS/DVL (strapdown inertial navigation system/doppler velocity log) integrated navigation method |
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2014
- 2014-12-22 CN CN201410808250.8A patent/CN104482943B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103017755A (en) * | 2012-11-26 | 2013-04-03 | 哈尔滨工程大学 | Measuring method for underwater navigation attitudes |
| CN103163508A (en) * | 2013-02-01 | 2013-06-19 | 中国人民解放军国防科学技术大学 | Doppler velocity log (DVL) parameter calibration method used for integrated navigation system of underwater inertial navigation system (INS) and DVL |
| CN103090884A (en) * | 2013-02-19 | 2013-05-08 | 哈尔滨工程大学 | SINS (Strapdown Inertial Navigation System)-based method for restraining velocity measuring error of DVL (Doppler Velocity Log) |
| CN103278163A (en) * | 2013-05-24 | 2013-09-04 | 哈尔滨工程大学 | Nonlinear-model-based SINS/DVL (strapdown inertial navigation system/doppler velocity log) integrated navigation method |
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| Performance of an AUV Navigation System at Arctic Latitudes;Rob McEwen et al.;《IEEE JOURNAL OF OCEANIC ENGINEERING》;20050430;第30卷(第2期);第443-454页 * |
| 声学多普勒计程仪测速误差分析与补偿;傅菊英等;《海洋技术》;20110630;第30卷(第2期);第91-93页 * |
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