CN107504963A - Magnetic course error correcting method and autonomous underwater vehicle navigation error modification method - Google Patents

Magnetic course error correcting method and autonomous underwater vehicle navigation error modification method Download PDF

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Publication number
CN107504963A
CN107504963A CN201710809197.7A CN201710809197A CN107504963A CN 107504963 A CN107504963 A CN 107504963A CN 201710809197 A CN201710809197 A CN 201710809197A CN 107504963 A CN107504963 A CN 107504963A
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CN
China
Prior art keywords
course
error
magnetic
magnetic compass
current time
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Pending
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CN201710809197.7A
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Chinese (zh)
Inventor
蔡挺
杨晶
潘常军
黄江成
陈建峰
王英
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Xi'an Tianhe Sea Defense Intelligent Technology Co Ltd
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Xi'an Tianhe Sea Defense Intelligent Technology Co Ltd
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Priority to CN201710809197.7A priority Critical patent/CN107504963A/en
Publication of CN107504963A publication Critical patent/CN107504963A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38Testing, calibrating, or compensating of compasses

Abstract

The present invention provides a kind of magnetic course error correcting method and autonomous underwater vehicle navigation error modification method, belongs to underwater unmanned autonomous navigation device field of navigation technology, and wherein magnetic course error correcting method includes:Obtain the course at the current time that magnetic compass provides;Magnetic compass semi-circumference error caused by obtaining hard magnetic interference is calculated according to the course at current time;Calculated according to the course at current time and obtain magnetic compass quadrant error;Obtain magnetic compass circumference error caused by soft magnetic field interference and alignment error;The magnetic compass error for obtaining current time is calculated according to magnetic compass circumference error, magnetic compass semi-circumference error and magnetic compass quadrant error;The magnetic compass error at current time is fed back into the course at the current time that magnetic compass provides, calculating is modified to magnetic course, obtains the course at revised current time.The present invention has the advantages of cost is low, easy to operate, applied widely, improves the reliability of navigation error correction result.

Description

Magnetic course error correcting method and autonomous underwater vehicle navigation error amendment Method
Technical field
The present invention relates to underwater unmanned autonomous navigation device field of navigation technology, and in particular to a kind of magnetic course error is repaiied Correction method and autonomous underwater vehicle navigation error modification method.
Background technology
AUV(Autonomous Underwater Vehicle, Autonomous Underwater Vehicle)It is that one kind can be independently complete Into the underwater boat device of a variety of operations specific tasks such as undersea detection, attack, delivery, salvaging, it is desirable to which it has for a long time certainly under water Main location navigation and ability of making a return voyage, and with disguise.In order to ensure that it smoothly solves underwater operation, AUV is proposed more High navigation accuracy requirement.Underwater unmanned autonomous navigation device navigation error size directly affects its navigation accuracy, in the past with position of navigating Calculate and mainly passed for the underwater unmanned autonomous navigation device of navigation algorithm by the magnetic compass and speed of unilaterally changing higher precision Sensor;It is either one-sided to change complicated Navigation algorithm, improve navigation computation model or unilaterally to magnetic course Information is filtered to complete navigation error amendment.
With the development of underwater unmanned autonomous navigation device, change the posture of higher precision and the method for velocity sensor is difficult to Meet requirement of the people to cost control;It is difficult effective raising navigation accuracy to change complicated Navigation algorithm, reliable Property and applicability are had a greatly reduced quality;Unilaterally magnetic course information, which is filtered, can not fundamentally solve course information distortion The problem of.
Therefore navigation error amendment needs to set about from sensor information root, forms the modification method of complete set, simultaneously The reliability, ease for use and correction effect of modification method are considered as, can just be finally reached the purpose for effectively improving navigation accuracy.
The content of the invention
Therefore, in order to overcome drawbacks described above of the prior art, so as to provide a kind of magnetic course error correcting method And autonomous underwater vehicle navigation error modification method.
Therefore, a kind of magnetic course error correcting method of the embodiment of the present invention, comprises the following steps:
Obtain the course at the current time that magnetic compass provides;
Magnetic compass semi-circumference error caused by obtaining hard magnetic interference is calculated according to the course at the current time;
Calculated according to the course at the current time and obtain magnetic compass quadrant error;
Obtain magnetic compass circumference error caused by soft magnetic field interference and alignment error;
Calculated according to the magnetic compass circumference error, magnetic compass semi-circumference error and magnetic compass quadrant error and obtain current time Magnetic compass error;
The magnetic compass error at the current time is fed back into the course at the current time that magnetic compass provides, magnetic course is entered Row corrected Calculation, obtain the course at revised current time.
Preferably, the calculation formula of the magnetic compass semi-circumference error is:
Wherein,For magnetic compass semi-circumference error,The course at the current time provided for magnetic compass,WithFor compensation Coefficient.
Preferably, the calculation formula of the magnetic compass quadrant error is:
Wherein,For magnetic compass quadrant error,The course at the current time provided for magnetic compass,WithIt is for compensation Number.
Preferably, the calculation formula of the magnetic compass error at the current time is:
Wherein,For the magnetic compass error at current time,For magnetic compass caused by soft magnetic field interference and alignment error Circumference error,The course at the current time provided for magnetic compass,WithFor penalty coefficient.
Preferably, it is described calculating is modified to magnetic course formula be:
Wherein,For the course at revised current time,The boat at the current time provided for magnetic compass To,For the magnetic compass error at current time.
Preferably, in addition to:
The course at the revised current time is filtered smoothly, the course of the subsequent time after acquisition filtering.
Preferably, the calculation formula of the filtering is:
Wherein,For the course of the subsequent time after filtering,For it is revised current when The course at quarter,For the course of revised subsequent time,WithFor filter factor,
A kind of autonomous underwater vehicle navigation error modification method of the embodiment of the present invention, comprises the following steps:
Using above-mentioned magnetic course error correcting method, course is obtained;
The course is introduced into dead reckoning, obtains latitude and longitude value.
The technical scheme of the embodiment of the present invention, has the following advantages that:
1. improve the reliability of navigation error correction result.Before navigation algorithm input pickup information, first magnetic compass is believed Breath carries out field compensation, fix error angle amendment, then course information is carried out just export after output smoothing filtering process to leading Navigate algorithm;The information source of navigation algorithm is progressively modified to information output, ensure that the reliability of navigation algorithm input, Progressively reduce navigation error from root.
2. sensor information filtering algorithm structure is simpler, easily realizes, be practical.Ensureing the basis of filter effect On, useFiltering output filtering is carried out to sensor output information, with used in currently available technology five points two Secondary method, Kalman filtering algorithm, 53H algorithms, the smoothing algorithm scheduling algorithm based on data variation rate,Filter structure is simpler List, parameter regulation are more easy to operate, the wider array of advantage of engineer applied.
3. cost is low, easy to operate, applied widely.Navigation accuracy is improved by the algorithm for correcting navigation error, not increased Add hardware cost, reduce the cost for improving navigation accuracy indirectly.Overall procedure is simple and easy to operate, suitable for the magnetic of different model Compass.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the specific embodiment of the invention, embodiment will be retouched below The required accompanying drawing used is briefly described in stating, it should be apparent that, drawings in the following description are some realities of the present invention Mode is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be attached according to these Figure obtains other accompanying drawings.
Fig. 1 is the flow chart of a specific example of magnetic course error correcting method in the embodiment of the present invention 1;
Fig. 2 is the DR position and GPS location comparison diagram for not doing any processing to course information;
Fig. 3 is that course information is usedCourse information comparison diagram before and after filtering;
Fig. 4 is the DR position and GPS location using autonomous underwater vehicle navigation error modification method in the embodiment of the present invention 2 Comparison diagram.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation Example is part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
As long as involved technical characteristic does not form punching each other in invention described below different embodiments Prominent can be combined with each other.
Embodiment 1
The present embodiment provides a kind of magnetic course error correcting method, as shown in figure 1, comprising the following steps:
S1, the course for obtaining the current time that magnetic compass provides;
S2, magnetic compass semi-circumference error caused by the hard magnetic interference of acquisition is calculated according to the course at current time;
S3, acquisition magnetic compass quadrant error is calculated according to the course at current time;
S4, obtain magnetic compass circumference error caused by soft magnetic field interference and alignment error;
S5, calculated according to magnetic compass circumference error, magnetic compass semi-circumference error and magnetic compass quadrant error and obtain current time Magnetic compass error;
S6, the course that the magnetic compass error at current time is fed back to the current time that magnetic compass provides, enter to magnetic course Row corrected Calculation, obtain the course at revised current time.
Above-mentioned magnetic course error correcting method, by according to magnetic compass circumference error, magnetic compass semi-circumference error and Magnetic compass quadrant error calculates the magnetic compass error for obtaining current time, the computational accuracy of magnetic compass error is improved, so as to carry The high amendment precision of magnetic course.
Preferably, in step S2, the calculation formula of magnetic compass semi-circumference error is:
Wherein,For magnetic compass semi-circumference error,The course at the current time provided for magnetic compass,WithFor compensation Coefficient.
Preferably, in step S3, the calculation formula of magnetic compass quadrant error is:
Wherein,For magnetic compass quadrant error,The course at the current time provided for magnetic compass,WithIt is for compensation Number.
Preferably, in step S5, the calculation formula of the magnetic compass error at current time is:
Wherein,For the magnetic compass error at current time,For magnetic compass caused by soft magnetic field interference and alignment error Circumference error,The course at the current time provided for magnetic compass,WithFor penalty coefficient.
CalculateWithThe step of include:
Magnetic compass is fixed under water on unmanned autonomous navigation device, in the horizontal direction uniform rotation ROV, taken between 45° angle etc. Every eight testing sites carry out error testing, obtain eight groups of test datas;
Penalty coefficient is asked for according to least square methodWith
Preferably, in step S6, the formula that calculating is modified to magnetic course is:
Wherein,For the course at revised current time,The boat at the current time provided for magnetic compass To,For the magnetic compass error at current time.
Preferably, magnetic course error correcting method is further comprising the steps of:
S7, the course to revised current time are filtered the course for smoothly obtaining the subsequent time after filtering.
Preferably, in step S7, the calculation formula of filtering is:
Wherein,For the course of the subsequent time after filtering,For it is revised current when The course at quarter,For the course of revised subsequent time,WithFor filter factor,
Above-mentioned magnetic course error correcting method, on the basis of filter effect is ensured, useFiltering is to sensor Output information carries out output filtering, with used in currently available technology 5 quadratic methods, Kalman filtering algorithm, 53H algorithms, the smoothing algorithm scheduling algorithm based on data variation rate,Filter structure is simpler, parameter regulation is more easy to operate, work The wider array of advantages of Cheng Yingyong.
Embodiment 2
Originally apply example and a kind of autonomous underwater vehicle navigation error modification method is provided, unmanned autonomous navigation device is by heading device under water Breath is introduced before dead reckoning algorithm, and field compensation and fix error angle amendment, then the course by amendment are first carried out to magnetic compass Information is passed throughDead reckoning is introduced after filtering, specifically includes following steps:
S2-1, the magnetic course error correcting method using embodiment 1, obtain course;
S2-2, course is introduced to dead reckoning, obtain latitude and longitude value.Wherein, involved underwater unmanned autonomous navigation device course It is just 0 ° ~ 360 ° of scope that angular direction, which defines north by west,.
Preferably, in step S2-2, the calculation formula of latitude and longitude value is:
Wherein,
The respectively latitude and longitude value at current time,For the latitude and longitude value of initial point,To be obtained in embodiment 1 Course, i.e.,Or,Respectively DVL(Doppler anemometer)The forward speed of output With side velocity information,The east orientation speed and north orientation in terrestrial coordinate system of respectively underwater unmanned autonomous navigation device Speed,For the unit period of dead reckoning,Respectively current time meridional ellipse and parallel circle curvature.
Above-mentioned autonomous underwater vehicle navigation error modification method, it is first right before navigation algorithm input pickup information Magnetic compass information carries out field compensation, fix error angle amendment, then carries out output smoothing filtering process afterwards just to course information Export to navigation algorithm;The information source of navigation algorithm is progressively modified to information output, ensure that navigation algorithm inputs Reliability, progressively reduce navigation error from root.Navigation accuracy is improved by the algorithm for correcting navigation error, not increased Hardware cost, the cost for improving navigation accuracy is reduced indirectly.Overall procedure is simple and easy to operate, suitable for magnetic sieve of different model Disk.
After being attached to underwater unmanned autonomous navigation device due to magnetic compass, position fixation will not change, by magnetic interference and peace Magnetic course information error caused by dress error angle will not change, once therefore the compensation of magnetic compass magnetic interference and installation After error angle amendment, magnetic course information need to be only filtered smoothly during underwater unmanned autonomous navigation device work every time Dead reckoning can be introduced after processing, without repeating other steps.
Fig. 2, Fig. 4 are that dead-reckoning position and GPS position information correction data using GPS velocity as forward speed play back, A For GPS location, B is magnetic compass dead-reckoning position.Fig. 2 magnetic courses information is initial data, and navigation accuracy is voyage 6.89%;Fig. 4 is carried out to magnetic course information(=0.9) filtering is handled, and navigation accuracy is the 2.33% of voyage.By This understands to carry out field compensation, fix error angle amendment to magnetic course information and carried outIt can be obtained after filtering processing Take higher navigation accuracy.Fig. 3 isCourse information contrasts before and after filtering, it is seen that smooth rear course angle output stabilization, Burr is small, without outlier.
In summary, progressively repaiied to information output from the information source of underwater unmanned autonomous navigation device navigation strategy Just, progressively reduce navigation error from root, improve the reliability of navigation error correction result, secondly useFiltering There is the spies such as easy, practical, the applicable more, good wave filtering effect of magnetic compass species of algorithm structure at the smooth aspect of course information Point, further increase the ease for use and correction effect of navigation error modification method.
Obviously, above-described embodiment is only intended to clearly illustrate example, and is not the restriction to embodiment.It is right For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or Among changing still in the protection domain of the invention.

Claims (8)

1. a kind of magnetic course error correcting method, it is characterised in that comprise the following steps:
Obtain the course at the current time that magnetic compass provides;
Magnetic compass semi-circumference error caused by obtaining hard magnetic interference is calculated according to the course at the current time;
Calculated according to the course at the current time and obtain magnetic compass quadrant error;
Obtain magnetic compass circumference error caused by soft magnetic field interference and alignment error;
Calculated according to the magnetic compass circumference error, magnetic compass semi-circumference error and magnetic compass quadrant error and obtain current time Magnetic compass error;
The magnetic compass error at the current time is fed back into the course at the current time that magnetic compass provides, magnetic course is entered Row corrected Calculation, obtain the course at revised current time.
2. magnetic course error correcting method according to claim 1, it is characterised in that the magnetic compass semi-circumference is missed Difference calculation formula be:
Wherein,For magnetic compass semi-circumference error,The course at the current time provided for magnetic compass,WithFor compensation Coefficient.
3. magnetic course error correcting method according to claim 1 or 2, it is characterised in that the magnetic compass quadrant The calculation formula of error is:
Wherein,For magnetic compass quadrant error,The course at the current time provided for magnetic compass,WithIt is for compensation Number.
4. according to the magnetic course error correcting method described in claim any one of 1-3, it is characterised in that when described current The calculation formula of the magnetic compass error at quarter is:
Wherein,For the magnetic compass error at current time,For magnetic compass circle caused by soft magnetic field interference and alignment error All errors,The course at the current time provided for magnetic compass,WithFor penalty coefficient.
5. according to the magnetic course error correcting method described in claim any one of 1-4, it is characterised in that described to magnetic sieve The formula that disk course is modified calculating is:
Wherein,For the course at revised current time,The boat at the current time provided for magnetic compass To,For the magnetic compass error at current time.
6. according to the magnetic course error correcting method described in claim any one of 1-5, it is characterised in that also include:
The course at the revised current time is filtered smoothly, the course of the subsequent time after acquisition filtering.
7. magnetic course error correcting method according to claim 6, it is characterised in that the calculating of the filtering Formula is:
Wherein,For the course of the subsequent time after filtering,For it is revised current when The course at quarter,For the course of revised subsequent time,WithFor filter factor,
8. a kind of autonomous underwater vehicle navigation error modification method, it is characterised in that comprise the following steps:
Using the magnetic course error correcting method as described in claim any one of 1-7, course is obtained;
The course is introduced into dead reckoning, obtains latitude and longitude value.
CN201710809197.7A 2017-09-10 2017-09-10 Magnetic course error correcting method and autonomous underwater vehicle navigation error modification method Pending CN107504963A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107765032A (en) * 2017-09-10 2018-03-06 西安天和海防智能科技有限公司 Doppler anemometer speed modification method and autonomous underwater vehicle navigation error modification method
CN108917760A (en) * 2018-04-25 2018-11-30 西安交通大学 A kind of pedestrian's dead reckoning course corner correcting method based on compensating of the earth magnetic field

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102288170A (en) * 2011-07-14 2011-12-21 浙江大学 Correction method of electronic compass in underwater vehicle
CN106959105A (en) * 2017-04-21 2017-07-18 北京京东尚科信息技术有限公司 Method for calibrating compass and device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102288170A (en) * 2011-07-14 2011-12-21 浙江大学 Correction method of electronic compass in underwater vehicle
CN106959105A (en) * 2017-04-21 2017-07-18 北京京东尚科信息技术有限公司 Method for calibrating compass and device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107765032A (en) * 2017-09-10 2018-03-06 西安天和海防智能科技有限公司 Doppler anemometer speed modification method and autonomous underwater vehicle navigation error modification method
CN108917760A (en) * 2018-04-25 2018-11-30 西安交通大学 A kind of pedestrian's dead reckoning course corner correcting method based on compensating of the earth magnetic field
CN108917760B (en) * 2018-04-25 2021-01-19 西安交通大学 Magnetic field correction-based pedestrian dead reckoning course angle correction method

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Application publication date: 20171222