CN110057383B - Lever arm error calibration method of AUV (autonomous Underwater vehicle) push navigation system - Google Patents

Lever arm error calibration method of AUV (autonomous Underwater vehicle) push navigation system Download PDF

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CN110057383B
CN110057383B CN201910365817.1A CN201910365817A CN110057383B CN 110057383 B CN110057383 B CN 110057383B CN 201910365817 A CN201910365817 A CN 201910365817A CN 110057383 B CN110057383 B CN 110057383B
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张强
范彦福
张雯
李晔
祝海涛
张铁栋
沈海龙
王博
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Harbin Engineering University
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Abstract

本发明涉及一种AUV推位导航系统杆臂误差标校方法，属于水下航行器领域。针对AUV推位导航系统中因多普勒测速声纳(DVL,Doppler Velocity Log)未与航姿参考系统(AHRS,Attitude and Heading Reference System)一起安装在AUV质心而产生的杆臂误差进行标校，构建了适用于卡尔曼滤波算法的误差标校模型，提出采用简单易行的回旋运动方式辨识杆臂长度。无需AHRS提供垂荡信息，降低了对惯性基导航设备的要求，方案普适性好，适用于解决各种类型的AUV的杆臂长度辨识问题，通过对AUV推位导航系统中的杆臂误差的补偿，可有效提高AUV推位导航系统的定位精度；同时方案可直接求取，不要求DVL、AHRS与质心(或浮心)位于同一直线上，即无论AUV的质心(浮心)在什么位置，都可以直接得到相应的杆臂长度，应用前景广阔。

Figure 201910365817

The invention relates to a method for calibrating the error of a lever arm of an AUV positioning navigation system, which belongs to the field of underwater vehicles. Calibrate the lever arm error caused by the Doppler Velocity Log (DVL, Doppler Velocity Log) not being installed at the AUV center of mass together with the Attitude and Heading Reference System (AHRS, Attitude and Heading Reference System) in the AUV positioning navigation system , an error calibration model suitable for the Kalman filter algorithm was constructed, and a simple and feasible method of circular motion was proposed to identify the length of the lever arm. There is no need for AHRS to provide heave information, which reduces the requirements for inertial-based navigation equipment. The solution has good universality and is suitable for solving the problem of lever-arm length identification for various types of AUVs. By analyzing the lever-arm error in the AUV positioning navigation system The compensation can effectively improve the positioning accuracy of the AUV positioning navigation system; at the same time, the scheme can be obtained directly, and it is not required that DVL, AHRS and the center of mass (or buoyancy) are on the same straight line, that is, no matter where the center of mass (or buoyancy) of the AUV is position, the corresponding lever arm length can be directly obtained, and the application prospect is broad.

Figure 201910365817

Description

一种AUV推位导航系统杆臂误差标校方法A method for calibrating the lever arm error of AUV positioning navigation system

技术领域technical field

本发明涉及一种AUV(Autonomous Underwater Vehicle,AUV)推位导航系统杆臂误差标校方法，属于水下航行器领域。The invention relates to a lever arm error calibration method of an AUV (Autonomous Underwater Vehicle, AUV) push navigation system, belonging to the field of underwater vehicles.

背景技术Background technique

由DVL、AHRS构成的水下推位导航系统是AUV即水下航行器常用的自主水下导航方法，理论上DVL应当安装于AUV的旋转中心上，但受AUV空间约束，DVL的位置距离AUV的旋转中心通常较远，存在杆臂误差，极大地影响了推位导航系统的定位精度。The underwater thruster navigation system composed of DVL and AHRS is a commonly used autonomous underwater navigation method for AUV, that is, underwater vehicles. In theory, DVL should be installed on the rotation center of AUV. The rotation center of the navigation system is usually far away, and there is a lever arm error, which greatly affects the positioning accuracy of the positioning navigation system.

本发明设计一种AUV推位导航系统杆臂误差标校方法，通过对推位导航系统杆臂误差的补偿，提高AUV推位导航系统的定位精度。The invention designs a method for calibrating the error of a lever arm of an AUV positioning navigation system, and improves the positioning accuracy of the AUV positioning navigation system by compensating for the error of the lever arm of the positioning navigation system.

公开日为2009年11月，名称为“臂杆效应补偿中H∞滤波器的应用与设计”的论文，在杆臂长度存在挠曲变形时，采用H∞滤波提高传递对准的精度。但该方法需要高精度惯导系统辅助，而AUV普遍采用低成本商用惯性单元，且AUV艇体长度较短，其挠度变形对杆臂误差估计的影响极小。The publication date is November 2009, and the paper titled "Application and Design of H∞ Filter in Arm Effect Compensation" uses H∞ filter to improve the accuracy of transfer alignment when there is deflection in the length of the arm. However, this method requires the assistance of a high-precision inertial navigation system, and AUVs generally use low-cost commercial inertial units, and the length of the AUV hull is short, and its deflection deformation has minimal influence on the error estimation of the lever arm.

公开日2019年2月，名称为“载体行进间对准杆臂误差补偿算法”的论文，采用力学方程的方法对杆臂长度进行测量，与系统的误差模型相结合，构建卡尔曼状态量测方程，通过5阶CKF算法，实现了惯导系统的杆臂误差辨识。但该方法不但计算量相对较大，而且对惯性元件精度要求较高，不适用于基于低成本商用惯性单元的AUV推位导航系统的臂杆误差在线辨识。The publication date is February 2019. The paper titled "Compensation Algorithm for Alignment Lever-Arm Error During Carrier Travel" uses the method of mechanical equations to measure the length of the lever arm, and combines it with the error model of the system to construct a Kalman state measurement Equation, through the 5th-order CKF algorithm, the lever-arm error identification of the inertial navigation system is realized. However, this method not only has a relatively large amount of calculation, but also requires high precision of the inertial components, so it is not suitable for the online identification of the arm error of the AUV positioning navigation system based on low-cost commercial inertial units.

发明内容Contents of the invention

本发明的目的是为了解决AUV推位导航系统中存在的杆臂误差标校问题而提供一种AUV推位导航系统杆臂误差标校方法，构建适用于卡尔曼滤波算法的误差标校模型，有效辨识水下推位导航系统中DVL安装位置同AUV旋转中心点间的杆臂误差，提高水下推位导航系统的定位精度。The purpose of the present invention is to provide a method for calibrating the lever arm error of the AUV navigation system in order to solve the problem of calibration of the lever arm error in the AUV navigation system, and to construct an error calibration model suitable for the Kalman filter algorithm. Effectively identify the lever arm error between the DVL installation position and the AUV rotation center in the underwater navigation system, and improve the positioning accuracy of the underwater navigation system.

本发明的目的是这样实现的，一种AUV推位导航系统杆臂误差标校方法，具体包括以下步骤：The purpose of the present invention is achieved in this way, a method for calibrating the lever arm error of an AUV push position navigation system, specifically comprising the following steps:

步骤1、确定AUV的运动方式为回转运动；Step 1. Determine that the motion mode of the AUV is rotary motion;

步骤2、根据AUV回旋运动的特点，对AUV回转运动的系统进行分析，构建适用于卡尔曼滤波算法的杆臂误差模型；Step 2. According to the characteristics of AUV rotary motion, the system of AUV rotary motion is analyzed, and a lever arm error model suitable for Kalman filter algorithm is constructed;

步骤3、确定系统状态量、观测量，构建状态方程和观测方程，根据卡尔曼滤波对AUV的杆臂长度进行最优估计；Step 3. Determine the system state quantity and observation quantity, construct the state equation and observation equation, and optimally estimate the lever arm length of the AUV according to the Kalman filter;

步骤4、根据AUV杆臂长度的最优估计，标校由杆臂效应引起的推位导航系统定位误差。Step 4. According to the optimal estimate of the length of the lever arm of the AUV, the positioning error of the positioning navigation system caused by the lever arm effect is calibrated.

本发明还包括这样一些结构特征：The present invention also includes such structural features:

一种AUV推位导航系统杆臂误差标校方法，所述步骤1具体包括以下步骤：A method for calibrating the lever arm error of an AUV push position navigation system, the step 1 specifically includes the following steps:

步骤1.1、AUV上DVL位于艏部，AUV载体系b的原点ob与AUV质心重合，xb轴指向艇艏方向，yb轴垂直于xb轴，指向右舷方向，zb轴垂直于xb-yb平面，满足右手定则向下，RCA为载体系下DVL安装点距质心距离，杆臂长度矢量为

Figure BDA0002048143430000021
存在杆臂误差；Step 1.1. The DVL on the AUV is located at the bow, the origin o b of the AUV carrier system b coincides with the center of mass of the AUV, the x b axis points to the bow direction of the boat, the y b axis is perpendicular to the x b axis and points to the starboard direction, and the z b axis is perpendicular to the x The plane b -y b satisfies the right-hand rule downward, R CA is the distance from the DVL installation point to the center of mass under the carrier system, and the length vector of the lever arm is
Figure BDA0002048143430000021
There is a lever arm error;

步骤1.2、AUV在水下航行时，会产生角运动，

Figure BDA0002048143430000022
为A点在载体坐标系下DVL的输出值，Vbx是在A点线速度
Figure BDA0002048143430000023
沿载体坐标系xb轴的分量，Vby是在A点线速度
Figure BDA0002048143430000024
沿载体坐标系yb轴的分量，ωbx，ωby，ωbz分别是在A点的角速度
Figure BDA0002048143430000025
在载体坐标系的投影分量；Step 1.2, when the AUV sails underwater, it will produce angular motion,
Figure BDA0002048143430000022
is the output value of DVL at point A in the carrier coordinate system, V bx is the linear velocity at point A
Figure BDA0002048143430000023
The component along the x b axis of the carrier coordinate system, V by is the linear velocity at point A
Figure BDA0002048143430000024
Components along the y b axis of the carrier coordinate system, ω bx , ω by , ω bz are the angular velocities at point A
Figure BDA0002048143430000025
the projected component in the carrier coordinate system;

步骤1.3、方位随动水平坐标系b'的原点ob′与载体系b原点重合，xb′轴方向与AUV艏向一致，且与yb′构成当地水平坐标系，zb′轴铅垂向下，三者满足右手定则；Step 1.3, the origin o b' of the azimuth-following horizontal coordinate system b' coincides with the origin of the carrier system b, the direction of the x b' axis is consistent with the heading of the AUV, and forms a local horizontal coordinate system with y b' , and the z b' axis leads Vertically, the three satisfy the right-hand rule;

步骤1.4、R为在方位随动坐标系AUV做回转运动的半径，AUV回转运动方向与zb′轴同向顺时针旋转为正，回转半径在方位随动水平坐标系下的坐标为

Figure BDA0002048143430000026
与zb′轴反向逆时针旋转时为负，回转半径在方位随动水平坐标系下的坐标为
Figure BDA0002048143430000027
γ为AUV运动时的横滚角，θ为AUV运动时的纵倾角。Step 1.4. R is the radius of the AUV’s rotary motion in the azimuth-following coordinate system. The direction of the AUV’s rotary motion is positive when it rotates clockwise in the same direction as the z b′ axis. The coordinates of the radius of gyration in the azimuth-following horizontal coordinate system are
Figure BDA0002048143430000026
It is negative when it rotates anticlockwise with the z b′ axis, and the coordinates of the radius of gyration in the azimuth-following horizontal coordinate system are
Figure BDA0002048143430000027
γ is the roll angle when the AUV is moving, and θ is the pitch angle when the AUV is moving.

一种AUV推位导航系统杆臂误差标校方法，所述步骤2具体包括以下步骤：A method for calibrating the lever arm error of an AUV push position navigation system, the step 2 specifically includes the following steps:

步骤2.1、对回转运动系统进行分析，当AUV不存在横摇和纵摇运动时，在载体坐标系C点处的线速度为：

Figure BDA0002048143430000031
而
Figure BDA0002048143430000032
所以在载体坐标系下
Figure BDA0002048143430000033
载体系下，沿AUV的载体系横滚轴正向的杆臂坐标为
Figure BDA0002048143430000034
则A点处载体系下的线速度误差
Figure BDA0002048143430000035
为
Figure BDA0002048143430000036
Step 2.1. Analyze the rotary motion system. When the AUV does not have rolling and pitching motions, the linear velocity at point C of the carrier coordinate system is:
Figure BDA0002048143430000031
and
Figure BDA0002048143430000032
So in the carrier coordinate system
Figure BDA0002048143430000033
Under the carrier system, the lever arm coordinates along the positive direction of the carrier system roll axis of the AUV are
Figure BDA0002048143430000034
Then the linear velocity error under the load system at point A
Figure BDA0002048143430000035
for
Figure BDA0002048143430000036

步骤2.2、对回转运动系统进行分析，当AUV做回旋运动时存在纵摇和横摇运动，所以载体坐标系b下AUV的回旋线速度为

Figure BDA0002048143430000037
其中
Figure BDA0002048143430000038
设在方位随动水平坐标系下RDC的坐标为
Figure BDA0002048143430000039
则在载体系下，AUV的回旋线速度为
Figure BDA00020481434300000310
又
Figure BDA00020481434300000311
因此DVL的输出值，即A点速度表示为：
Figure BDA00020481434300000312
又载体系b下RCA的坐标为：
Figure BDA00020481434300000313
即
Figure BDA00020481434300000314
得
Figure BDA00020481434300000315
假设：
Figure BDA00020481434300000316
得
Figure BDA00020481434300000317
Step 2.2. Analyze the rotary motion system. When the AUV performs a rotary motion, there are pitch and roll motions, so the linear velocity of the AUV in the carrier coordinate system b is
Figure BDA0002048143430000037
in
Figure BDA0002048143430000038
Let the coordinates of R DC in the azimuth-following horizontal coordinate system be
Figure BDA0002048143430000039
Then under the carrier system, the linear velocity of the AUV is
Figure BDA00020481434300000310
again
Figure BDA00020481434300000311
Therefore, the output value of DVL, that is, the speed of point A is expressed as:
Figure BDA00020481434300000312
It is also stated that the coordinates of R CA under system b are:
Figure BDA00020481434300000313
which is
Figure BDA00020481434300000314
have to
Figure BDA00020481434300000315
Assumptions:
Figure BDA00020481434300000316
have to
Figure BDA00020481434300000317

一种AUV推位导航系统杆臂误差标校方法，所述步骤3具体包括以下步骤：A method for calibrating the lever arm error of an AUV push position navigation system, the step 3 specifically includes the following steps:

步骤3.1、杆臂长度

Figure BDA00020481434300000318
以[RCAVby]T作为系统的状态变量建立卡尔曼滤波方程，则状态方程为：
Figure BDA00020481434300000319
w为满足零均值正态分布的高斯白噪声，观测方程为
Figure BDA00020481434300000320
v为满足零均值正态分布的高斯白噪声；Step 3.1, Lever Arm Length
Figure BDA00020481434300000318
Taking [R CA V by ] T as the state variable of the system to establish the Kalman filter equation, the state equation is:
Figure BDA00020481434300000319
w is a Gaussian white noise that satisfies a zero-mean normal distribution, and the observation equation is
Figure BDA00020481434300000320
v is a Gaussian white noise that satisfies a zero-mean normal distribution;

步骤3.2、根据卡尔曼滤波对AUV推位导航系统中的杆臂长度RCA进行最优估计。Step 3.2. Optimally estimate the lever arm length R CA in the AUV positioning navigation system according to the Kalman filter.

一种AUV推位导航系统杆臂误差标校方法，所述步骤4具体包括以下步骤：A kind of AUV push position navigation system lever arm error calibration method, described step 4 specifically comprises the following steps:

步骤4.1、由步骤3得杆臂长度RCA的最优估计值，得A点处的速度误差

Figure BDA0002048143430000041
Step 4.1. Obtain the optimal estimated value of the lever arm length R CA from step 3, and obtain the speed error at point A
Figure BDA0002048143430000041

步骤4.2、，根据

Figure BDA0002048143430000042
得到A点的速度
Figure BDA0002048143430000043
通过补偿A点处的速度误差
Figure BDA0002048143430000044
得到C点线速度
Figure BDA0002048143430000045
Step 4.2, according to
Figure BDA0002048143430000042
Get the velocity of point A
Figure BDA0002048143430000043
By compensating for the velocity error at point A
Figure BDA0002048143430000044
Get the linear velocity at point C
Figure BDA0002048143430000045

与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:

本发明通过构建适用于卡尔曼滤波算法的误差标校模型，能有效辨识水下推位导航系统中DVL安装位置同AUV旋转中心点间的杆臂误差，提高水下推位导航系统的定位精度。本发明采用回旋运动方式来辨识杆臂长度，方案简单易行；无需AHRS提供垂荡信息，降低了对惯性基导航设备的要求，方案普适性好，适用于解决各种类型的AUV的杆臂长度辨识问题；同时方案可直接求取，不必要求DVL、AHRS与质心(或浮心)位于同一直线上，即无论AUV的质心(浮心)在什么位置，都可以直接得到相应的杆臂长度。The invention can effectively identify the lever arm error between the DVL installation position and the AUV rotation center point in the underwater navigation system by constructing an error calibration model suitable for the Kalman filter algorithm, and improve the positioning accuracy of the underwater navigation system . The invention adopts the swing motion method to identify the length of the lever arm, and the solution is simple and easy; no AHRS is required to provide heave information, which reduces the requirements for inertial-based navigation equipment. Arm length identification problem; at the same time, the scheme can be obtained directly, without requiring DVL, AHRS and the center of mass (or buoyancy center) to be on the same straight line, that is, no matter where the center of mass (or buoyancy center) of the AUV is, the corresponding lever arm can be directly obtained length.

附图说明Description of drawings

图1是AUV推位导航系统杆臂误差标校的总流程图；Fig. 1 is the general flow chart of the lever arm error calibration of the AUV push navigation system;

图2是旋转半径在艇体下的投影；Figure 2 is the projection of the radius of rotation under the hull;

图3是AUV做回转运动时不同点处速度示意图；Figure 3 is a schematic diagram of the speed at different points when the AUV is doing rotary motion;

图4是AUV的速度常值误差即杆臂误差示意图；Figure 4 is a schematic diagram of the constant value error of the speed of the AUV, that is, the error of the lever arm;

图5是DVL、AHRS与质心不共线示意图；Figure 5 is a schematic diagram of non-collinearity between DVL, AHRS and centroid;

图6是杆臂长度估计仿真结果。Figure 6 is the simulation result of lever arm length estimation.

具体实施方式detailed description

下面结合附图与具体实施方式对本发明作进一步详细描述。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

本发明涉及水下自主导航领域，提出一种适用于AUV推位导航系统的杆臂误差标校方法。针对AUV推位导航系统中因多普勒测速声纳(DVL,Doppler Velocity Log)未与航姿参考系统(AHRS,Attitude and Heading Reference System)一起安装在AUV质心，而产生的杆臂误差进行标校，构建了适用于卡尔曼滤波算法的误差标校模型，提出采用简单易行的回旋运动方式辨识杆臂长度。无需AHRS提供垂荡信息，降低了对惯性基导航设备的要求，方案普适性好，适用于解决各种类型的AUV的杆臂长度辨识问题，通过对AUV推位导航系统中的杆臂误差的补偿，可有效提高AUV推位导航系统的定位精度。The invention relates to the field of underwater autonomous navigation, and proposes a lever-arm error calibration method suitable for an AUV push-and-go navigation system. The lever-arm error caused by the Doppler Velocity Log (DVL, Doppler Velocity Log) is not installed on the AUV center of mass together with the Heading Reference System (AHRS, Attitude and Heading Reference System) in the AUV positioning navigation system. Calibration, the error calibration model suitable for the Kalman filter algorithm is constructed, and a simple and easy gyroscopic motion method is proposed to identify the length of the lever arm. There is no need for AHRS to provide heave information, which reduces the requirements for inertial-based navigation equipment. The solution has good universality and is suitable for solving the problem of lever-arm length identification for various types of AUVs. By analyzing the lever-arm error in the AUV positioning navigation system The compensation can effectively improve the positioning accuracy of the AUV positioning navigation system.

具体实施方式1：本实施方式的一种AUV推位导航系统杆臂误差标校的方法，包括：Specific implementation mode 1: a method for calibrating the lever arm error of the AUV positioning navigation system according to the present implementation mode, including:

(1)根据图4的AUV推位导航系统杆臂误差的产生原因，AUV上DVL位于艏部，安装位置离AUV的旋转中心较远，存在杆臂误差。当AUV在水下航行时，不可避免会产生角运动，DVL会敏感以旋转中心为原点，以安装点至旋转中心距离为半径的圆上的线速度，使AUV的导航系统产生常值速度误差和常值速度误差；确定AUV的运动方式为回转运动，对AUV推位导航系统的杆臂误差进行标校；(1) According to the cause of the lever arm error of the AUV positioning navigation system in Fig. 4, the DVL on the AUV is located at the bow, and the installation position is far from the rotation center of the AUV, so there is a lever arm error. When the AUV navigates underwater, it will inevitably produce angular motion. DVL will be sensitive to the linear velocity on a circle with the center of rotation as the origin and the distance from the installation point to the center of rotation as the radius, causing the AUV's navigation system to generate a constant speed error. and constant speed error; determine that the movement mode of AUV is rotary motion, and calibrate the lever arm error of AUV push navigation system;

(2)对AUV进行回转运动的系统进行分析；当AUV做回旋运动时存在纵摇和横摇运动，根据回转运动特点，杆臂长度

Figure BDA0002048143430000051
(2) Analyze the system of AUV's rotary motion; when the AUV performs rotary motion, there are pitching and rolling motions. According to the characteristics of rotary motion, the length of the lever arm
Figure BDA0002048143430000051

(3)根据AUV的回转运动系统，构建适用于卡尔曼滤波算法的误差标校模型。根据系统状态量、观测量确定系统的状态方程和观测方程，建立卡尔曼滤波方程；以[RCA Vby]T作为状态变量建立卡尔曼滤波方程对AUV推位导航系统中的杆臂进行标校，则状态方程为：

Figure BDA0002048143430000052
w为满足零均值正态分布的高斯白噪声，观测方程为
Figure BDA0002048143430000053
其中v为满足零均值正态分布的高斯白噪声；(3) According to the rotary motion system of the AUV, an error calibration model suitable for the Kalman filter algorithm is constructed. Determine the state equation and observation equation of the system according to the system state quantity and observation quantity, and establish the Kalman filter equation; use [R CA V by ] T as the state variable to establish the Kalman filter equation to standardize the lever arm in the AUV positioning navigation system school, the state equation is:
Figure BDA0002048143430000052
w is a Gaussian white noise that satisfies a zero-mean normal distribution, and the observation equation is
Figure BDA0002048143430000053
Where v is a Gaussian white noise that satisfies a zero-mean normal distribution;

(4)由卡尔曼滤波模型对AUV的杆臂长度进行最优估计，具体是根据卡尔曼滤波对AUV推位导航系统中的杆臂长度RCA进行最优估计；(4) The Kalman filter model is used to optimally estimate the length of the lever arm of the AUV, specifically, the optimal estimation of the lever arm length R CA in the AUV positioning navigation system is performed according to the Kalman filter;

(5)根据AUV杆臂长度的最优估计，对AUV推位导航系统杆臂误差进行标校，具体是利用杆臂长度RCA的最优估计对AUV推位导航系统中的杆臂误差进行标校；(5) According to the optimal estimation of the length of the AUV lever arm, the error of the lever arm of the AUV positioning navigation system is calibrated. Calibration;

具体实施方式2：本实施方式与具体实施方式1不同的是：步骤(1)具体为：Specific embodiment 2: the difference between this embodiment and specific embodiment 1 is that step (1) is specifically:

(1.1)如图2所示，AUV载体系b的原点ob与AUV质心重合，xb轴指向艇艏方向，yb轴垂直于xb轴，指向右舷方向，zb轴垂直于xb-yb平面，满足右手定则向下；RCA为载体系下DVL安装点距质心距离，则杆臂长度矢量为

Figure BDA0002048143430000061
如图3所示，
Figure BDA0002048143430000062
为A点在载体坐标系下DVL的输出值。Vbx是在A点线速度
Figure BDA0002048143430000063
沿载体坐标系xb轴的分量，Vby是在A点线速度
Figure BDA0002048143430000064
沿载体坐标系yb轴的分量，ωbx，ωby，ωbz分别是在A点的角速度
Figure BDA0002048143430000065
在载体坐标系的投影分量。(1.1) As shown in Figure 2, the origin o b of the AUV carrier body b coincides with the center of mass of the AUV, the x b axis points to the bow direction of the boat, the y b axis is perpendicular to the x b axis and points to the starboard direction, and the z b axis is perpendicular to x b -y b plane, satisfying the right-hand rule downward; R CA is the distance from the DVL installation point to the center of mass under the carrier system, and the length vector of the lever arm is
Figure BDA0002048143430000061
As shown in Figure 3,
Figure BDA0002048143430000062
is the output value of DVL of point A in the carrier coordinate system. V bx is the linear velocity at point A
Figure BDA0002048143430000063
The component along the x b axis of the carrier coordinate system, V by is the linear velocity at point A
Figure BDA0002048143430000064
Components along the y b axis of the carrier coordinate system, ω bx , ω by , ω bz are the angular velocities at point A
Figure BDA0002048143430000065
The projected component in the carrier coordinate system.

(1.2)方位随动水平坐标系b'的原点ob′与载体系b原点重合，xb′轴方向与AUV艏向一致，且与yb′构成当地水平坐标系。zb′轴铅垂向下，三者满足右手定则。(1.2) The origin o b' of the azimuth-following horizontal coordinate system b' coincides with the origin of the carrier system b, the direction of the x b' axis is consistent with the heading of the AUV, and forms a local horizontal coordinate system with y b' . The z b′ axis is vertically downward, and the three satisfy the right-hand rule.

(1.3)R为在方位随动坐标系AUV做回转运动的半径。如图2所示，AUV回转运动方向与zb′轴同向顺时针旋转为正，回转半径在方位随动水平坐标系下的坐标为：

Figure BDA0002048143430000066
与zb′轴反向逆时针旋转时为负，回转半径在方位随动水平坐标系下的坐标为：
Figure BDA0002048143430000067
γ为AUV运动时的横滚角，θ为AUV运动时的纵倾角；(1.3) R is the radius of the rotary motion of the AUV in the azimuth follow-up coordinate system. As shown in Figure 2, the direction of the AUV’s rotational motion is positive when it rotates clockwise in the same direction as the z b′ axis, and the coordinates of the radius of gyration in the azimuth-following horizontal coordinate system are:
Figure BDA0002048143430000066
It is negative when it rotates anticlockwise with the z b′ axis, and the coordinates of the radius of gyration in the azimuth-following horizontal coordinate system are:
Figure BDA0002048143430000067
γ is the roll angle when the AUV is in motion, and θ is the pitch angle when the AUV is in motion;

具体实施方式3：本实施方式与具体实施方式1不同的是：步骤(2)具体为：Specific embodiment 3: the difference between this embodiment and specific embodiment 1 is that step (2) is specifically:

(2.1)针对AUV的推位导航系统中杆臂误差，AUV采用回转运动方式，构建适用于卡尔曼滤波算法的误差标校模型辨识杆臂长度；(2.1) Aiming at the error of the lever arm in the positioning navigation system of the AUV, the AUV adopts the rotary motion mode, and constructs an error calibration model suitable for the Kalman filter algorithm to identify the length of the lever arm;

(2.2)当AUV不存在横摇和纵摇运动时，在载体坐标系C点处的线速度为：

Figure BDA0002048143430000068
而
Figure BDA0002048143430000069
所以在载体坐标系下
Figure BDA00020481434300000610
如图4所示，载体系下，沿AUV的载体系横滚轴正向的杆臂坐标为:
Figure BDA00020481434300000611
则A点处载体系下的线速度误差
Figure BDA00020481434300000612
为：
Figure BDA00020481434300000613
(2.2) When the AUV does not have rolling and pitching motions, the linear velocity at point C of the carrier coordinate system is:
Figure BDA0002048143430000068
and
Figure BDA0002048143430000069
So in the carrier coordinate system
Figure BDA00020481434300000610
As shown in Figure 4, under the carrier system, the lever arm coordinates along the positive direction of the carrier system roll axis of the AUV are:
Figure BDA00020481434300000611
Then the linear velocity error under the load system at point A
Figure BDA00020481434300000612
for:
Figure BDA00020481434300000613

(2.3)当AUV做回旋运动时存在纵摇和横摇运动，那么载体坐标系b下AUV的回旋线速度为：

Figure BDA0002048143430000071
其中
Figure BDA0002048143430000072
设在方位随动水平坐标系下RDC的坐标为：
Figure BDA0002048143430000073
则在载体系下，AUV的回旋线速度为
Figure BDA0002048143430000074
又
Figure BDA0002048143430000075
因此DVL的输出值，即A点速度可表示为：
Figure BDA0002048143430000076
又载体系b下RCA的坐标为：
Figure BDA0002048143430000077
即
Figure BDA0002048143430000078
得
Figure BDA0002048143430000079
假设：
Figure BDA00020481434300000710
得
Figure BDA00020481434300000711
(2.3) When the AUV is in orbital motion, there are pitching and rolling motions, then the orbital linear velocity of the AUV in the carrier coordinate system b is:
Figure BDA0002048143430000071
in
Figure BDA0002048143430000072
Suppose the coordinates of R DC in the azimuth-following horizontal coordinate system are:
Figure BDA0002048143430000073
Then under the carrier system, the linear velocity of the AUV is
Figure BDA0002048143430000074
again
Figure BDA0002048143430000075
Therefore, the output value of DVL, that is, the speed of point A can be expressed as:
Figure BDA0002048143430000076
It is also stated that the coordinates of R CA under system b are:
Figure BDA0002048143430000077
which is
Figure BDA0002048143430000078
have to
Figure BDA0002048143430000079
Assumptions:
Figure BDA00020481434300000710
have to
Figure BDA00020481434300000711

具体实施方式4：本实施方式与具体实施方式1不同的是：步骤(3)具体为：Specific embodiment 4: the difference between this embodiment and specific embodiment 1 is that step (3) is specifically:

(3.1)以AUV做回转运动时考虑横摇和纵摇的情况下，利用卡尔曼滤波方法对杆臂长度进行最优估计；(3.1) Considering the rolling and pitching when the AUV is performing rotary motion, the Kalman filter method is used to optimally estimate the length of the lever arm;

(3.2)根据具体实施方式2的AUV运动情况分析知，在考虑横摇和纵摇情况下杆臂长度为

Figure BDA00020481434300000712
(3.2) According to the analysis of the AUV motion situation of the specific embodiment 2, the length of the lever arm is
Figure BDA00020481434300000712

(3.3)以[RCA Vby]T作为系统的状态变量建立卡尔曼滤波方程，则状态方程为：

Figure BDA00020481434300000713
w为满足零均值正态分布的高斯白噪声，观测方程为
Figure BDA00020481434300000714
其中v为满足零均值正态分布的高斯白噪声。仿真试验结果如图6所示，仿真设定AUV的航速为2节，回转半径10米，杆臂长度2米；AHRS的姿态角精度为0.01°，航向角精度为0.2°×sec(L)，其中L是AUV的纬度坐标；DVL常值误差为0.002m/s，动态误差为±0.2％。(3.3) Establish the Kalman filter equation with [R CA V by ] T as the state variable of the system, then the state equation is:
Figure BDA00020481434300000713
w is a Gaussian white noise that satisfies a zero-mean normal distribution, and the observation equation is
Figure BDA00020481434300000714
where v is Gaussian white noise that satisfies a zero-mean normal distribution. The results of the simulation test are shown in Figure 6. The simulation sets the speed of the AUV to 2 knots, the radius of gyration to 10 meters, and the length of the lever arm to 2 meters; the accuracy of the attitude angle of the AHRS is 0.01°, and the accuracy of the heading angle is 0.2°×sec(L) , where L is the latitude coordinate of the AUV; the DVL constant error is 0.002m/s, and the dynamic error is ±0.2%.

(3.4)根据卡尔曼滤波方法得到杆臂长度RCA的最优估计值，如图6所示，卡尔曼滤波状态能够准确跟踪杆臂误差，对卡尔曼滤波状态取平均值后杆臂长度估值为2.0214米，估计误差为2.14％；(3.4) According to the Kalman filter method, the optimal estimated value of the lever arm length R CA is obtained. As shown in Figure 6, the Kalman filter state can accurately track the error of the lever arm. After taking the average value of the Kalman filter state, the lever arm length is estimated The value is 2.0214 meters, and the estimated error is 2.14%;

具体实施方式5：本实施方式与具体实施方式1不同的是：步骤(4)具体为：Specific embodiment 5: the difference between this embodiment and specific embodiment 1 is that step (4) is specifically:

(4.1)由具体实施方式4得杆臂长度RCA的最优估计值，可得A点处的速度误差的最优估计为

Figure BDA0002048143430000081
(4.1) From the optimal estimated value of the lever arm length R CA obtained in the specific embodiment 4, the optimal estimated value of the velocity error at point A can be obtained as
Figure BDA0002048143430000081

(4.2)由于A点速度

Figure BDA0002048143430000082
已知，根据公式
Figure BDA0002048143430000083
可通过补偿A点处的速度误差
Figure BDA0002048143430000084
得到C点线速度
Figure BDA0002048143430000085
(4.2) Due to the speed of point A
Figure BDA0002048143430000082
known, according to the formula
Figure BDA0002048143430000083
The speed error at point A can be compensated by
Figure BDA0002048143430000084
Get the linear velocity at point C
Figure BDA0002048143430000085

Claims (3)

1. A lever arm error calibration method of an AUV (autonomous Underwater vehicle) push navigation system is characterized by comprising the following steps:
step 1, determining the motion mode of the AUV as rotary motion;
step 1.1, DVL on AUV is positioned at the bow, and origin o of AUV carrying system b b Coincident with AUV centroid, x b The axis points to the bow direction of the boat b Axis perpendicular to x b Axis pointing in starboard direction, z b Axis perpendicular to x b -y b Plane, downward meeting right hand rule, R CA Is the distance from a DVL mounting point to a mass center under a carrier system, and the length vector of a lever arm is
Figure FDA0003889003140000011
Lever arm error exists;
step 1.2, when the AUV navigates underwater, angular motion can be generated,
Figure FDA0003889003140000012
output value of DVL for point A in carrier coordinate system, V bx At the point speed of A line
Figure FDA0003889003140000013
Along a carrier coordinate system x b Component of the axis, V by At the point speed of A line
Figure FDA0003889003140000014
Along the carrier coordinate system y b Component of the axis, ω bx ，ω by ，ω bz Angular velocities at points A, respectively
Figure FDA0003889003140000015
Projection components in a carrier coordinate system;
step 1.3, origin o of azimuth follow-up horizontal coordinate system b b′ Coincident with the origin of the vector system b, x b′ The axial direction is consistent with the AUV heading and y b′ Form a local horizontal coordinate system, z b′ The axis is vertical downwards, and the three meet the right-hand rule;
step 1.4, R is the radius of the rotation motion of the AUV in the azimuth follow-up coordinate system, the rotation motion direction of the AUV and z b′ The coordinate of the rotation radius under the azimuth follow-up horizontal coordinate system is
Figure FDA0003889003140000016
And z b′ The axis is negative when rotating anticlockwise in the reverse direction, and the coordinate of the gyration radius under the azimuth follow-up horizontal coordinate system is
Figure FDA0003889003140000017
Gamma is a roll angle when the AUV moves, and theta is a pitch angle when the AUV moves;
step 2, analyzing the system of the AUV rotary motion according to the characteristics of the AUV rotary motion, and constructing a lever arm error model suitable for a Kalman filtering algorithm;
and 2.1, analyzing the rotary motion system, wherein when the AUV does not have rolling and pitching motions, the linear speed at the C point of the carrier coordinate system is as follows:
Figure FDA0003889003140000018
while
Figure FDA0003889003140000019
So under the carrier coordinate system
Figure FDA00038890031400000110
Under the carrier system, the lever arm coordinate along the positive direction of the transverse rolling shaft of the carrier system of the AUV is
Figure FDA00038890031400000111
Linear velocity error under the carrier system at point a
Figure FDA00038890031400000112
Is composed of
Figure FDA00038890031400000113
Step 2.2, analyzing the rotary motion system, wherein pitching and rolling motions exist when the AUV does rotary motion, so that the rotary linear velocity of the AUV in the carrier coordinate system b is
Figure FDA00038890031400000114
Wherein
Figure FDA0003889003140000021
Arranged under an orientation follow-up horizontal coordinate system R DC Has the coordinates of
Figure FDA0003889003140000022
The rotational linear velocity of AUV under the carrier system is
Figure FDA0003889003140000023
And also
Figure FDA0003889003140000024
The output value of the DVL, i.e., the a-point velocity, is thus expressed as:
Figure FDA0003889003140000025
and the carrier system b is R CA Has the coordinates of
Figure FDA0003889003140000026
Namely, it is
Figure FDA0003889003140000027
To obtain
Figure FDA0003889003140000028
Suppose that
Figure FDA0003889003140000029
To obtain
Figure FDA00038890031400000210
Step 3, determining system state quantity and observation quantity, constructing a state equation and an observation equation, and performing optimal estimation on the lever arm length of the AUV according to Kalman filtering;
and 4, calibrating positioning errors of the positioning navigation system caused by the lever arm effect according to the optimal estimation of the length of the AUV lever arm.
2. The calibration method for the lever arm error of the AUV push navigation system according to claim 1, wherein the step 3 specifically comprises the following steps:
step 3.1 Lever arm Length
Figure FDA00038890031400000211
To be provided with
Figure FDA00038890031400000212
And establishing a Kalman filtering equation as a state variable of the system, wherein the state equation is as follows:
Figure FDA00038890031400000213
w is white Gaussian noise satisfying a zero-mean normal distribution, and the observation equation is
Figure FDA00038890031400000214
v is white gaussian noise satisfying a zero-mean normal distribution;
step 3.2, carrying out lever arm length R in the AUV positioning navigation system according to Kalman filtering CA And carrying out optimal estimation.
3. The calibration method for the lever arm error of the AUV push navigation system according to claim 2, wherein the step 4 specifically comprises the following steps:
step 4.1, obtaining the lever arm length R from step 3 CA To obtain the speed error at point A
Figure FDA0003889003140000031
Step 4.2, according to
Figure FDA0003889003140000032
The velocity of the point A is obtained
Figure FDA0003889003140000033
By compensating for speed error at point A
Figure FDA0003889003140000034
Obtaining the speed of C point line
Figure FDA0003889003140000035
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