CN111812737A - Integrated system for underwater navigation and gravity measurement - Google Patents

Integrated system for underwater navigation and gravity measurement Download PDF

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CN111812737A
CN111812737A CN202010554630.9A CN202010554630A CN111812737A CN 111812737 A CN111812737 A CN 111812737A CN 202010554630 A CN202010554630 A CN 202010554630A CN 111812737 A CN111812737 A CN 111812737A
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gravity
navigation
laser
information
measurement
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CN111812737B (en
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蔡体菁
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Southeast University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V7/00—Measuring gravitational fields or waves; Gravimetric prospecting or detecting
    • G01V7/02—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V7/00—Measuring gravitational fields or waves; Gravimetric prospecting or detecting
    • G01V7/02—Details
    • G01V7/06—Analysis or interpretation of gravimetric records

Abstract

The invention discloses an integrated system for underwater navigation and gravity measurement, which comprises 3 laser gyroscopes, 3 pendulum flexible accelerometers, 3 gravity sensors, a transposition and angle measuring device, a temperature sensor, a temperature control box, a Doppler log, a depth meter, 2 computers, a data acquisition and processing platform, an LCD display and a circuit board. 3 gyroscopes and 3 accelerometers are placed on the indexing mechanism to form a laser gyroscope single-axis rotation inertia measurement unit; the gravity sensor is arranged in the temperature control box and is rigidly and fixedly connected with the laser gyro single-axis rotation inertia measurement unit. And the data acquisition and processing platform processes and records signals of each sensor in real time. And 2, respectively calculating navigation parameters and local gravity values of the integrated underwater navigation and gravity measurement system by using the computers. The integrated system for underwater navigation and gravity measurement provided by the invention can meet the navigation and gravity measurement requirements of an underwater carrier on long voyage with high precision and low cost.

Description

Integrated system for underwater navigation and gravity measurement
Technical Field
The invention relates to an integrated system of underwater navigation and gravity measurement, belonging to the technical field of combined navigation and gravity measurement.
Background
The ocean reserves abundant oil gas mineral resources, and the exploration and development of the ocean have great significance for the development of national economy. The distribution of oil and gas mineral resources is closely related to the ocean gravitational field, and underwater gravity measurement is helpful for finding them. The difficulty of the current underwater gravity measurement is that the existing gravity measurement system is difficult to ensure the long-time accurate positioning underwater and the low-cost continuous operation. In order to solve the problems, the invention provides an integrated system of underwater navigation and gravity measurement, which can meet the requirements of long-time navigation, high precision and low cost on underwater navigation and gravity measurement.
Disclosure of Invention
The invention aims to solve the problems and provides an integrated system for underwater navigation and gravity measurement, which can meet the requirements of long-time navigation, high precision and low cost on underwater navigation and gravity measurement.
In order to achieve the purpose, the invention adopts the technical scheme that: an integrated system for underwater navigation and gravity measurement mainly comprises 3 laser gyroscopes, 3 pendulum flexible accelerometers, 3 gravity sensors, a transposition and angle measuring device, a temperature sensor, a temperature control device, a Doppler log, a depth meter, 2 computers, a data acquisition and processing platform, an LCD display and a circuit board.
3 laser gyroscopes and 3 pendulum flexible accelerometers are placed on the indexing mechanism to form a laser gyroscope single-axis rotation inertia measurement unit.
The 3 gravity sensors are placed in the temperature control box, are rigidly fixed with the laser gyro single-axis rotation inertia measurement unit, and have the same attitude angle with the accelerometer of the laser gyro single-axis rotation inertia measurement unit.
The data acquisition and processing platform processes and records signals of the laser gyroscope, the accelerometer, the gravity sensor, the transposition and angle measuring device, the temperature sensor, the Doppler log and the depth meter in real time.
The method comprises the following steps that 1 computer receives a laser gyroscope, a high-precision accelerometer, a Doppler log, a depth meter, transposition angle information and temperature information, the speed information of the Doppler log and the water depth information of the depth meter are used as external observation quantities of a laser gyroscope single-axis rotation inertia measurement unit, and the position, the speed and the posture of an underwater navigation and gravity measurement integrated system are calculated by applying extended Kalman filtering.
And 1, receiving information of the gravity sensor and temperature information and position, speed and attitude information of the integrated system of underwater navigation and gravity measurement by the computers, calculating the specific force of the gravity sensor under a local geographic coordinate system, and performing gravity measurement correction and low-pass filtering to obtain a local gravity value.
As an improvement of the invention, the data acquisition processing platform and the computer adopt an FPGA + DSP + ARM architecture.
Has the advantages that:
the integrated system for underwater navigation and gravity measurement provided by the invention can meet the requirements of navigation and gravity measurement of an underwater carrier on long voyage, high precision and low cost.
Drawings
Fig. 1 is a schematic structural diagram of an integrated device of an inertial measurement unit and a gravity sensor according to the present invention.
FIG. 2 is a schematic diagram of a data acquisition and processing platform and a computer according to the present invention.
FIG. 3 is a flow chart of the navigation algorithm of the underwater integrated navigation system of the present invention.
Detailed Description
The present invention will be further described with reference to the following specific examples.
As shown in fig. 1, the embodiment discloses an integrated system of underwater navigation and gravity measurement, which mainly comprises an inertial measurement unit and gravity sensor integrated device, a doppler log, a depth meter, 2 computers, a data acquisition platform and an LCD display.
The inertial measurement unit and gravity sensor integrated device comprises a protective shell 1, 3 laser gyroscopes 8, 3 pendulum flexible accelerometers 9, 3 gravity sensors 2, a transposition and angle measurement device 4, a temperature sensor 7, a temperature control device 5 and circuit boards 3 and 6, wherein the laser gyroscopes 8, the pendulum flexible accelerometers 9 and the gravity sensors 2 are arranged in the protective shell.
The laser gyro single-axis rotation inertia measurement unit consists of three 90-type two-frequency mechanical shaking laser gyroscopes, three high-precision pendulum flexible accelerometers, a transposition and angle measurement device, a circuit board and the like, and the transposition and angle measurement device 4 consists of a torque motor, a driver, a photoelectric coded disc angle measurement instrument, a conductive sliding ring and a mechanical component.
The 3 gravity sensors are placed in the temperature control box, are rigidly fixed with the laser gyro single-axis rotation inertia measurement unit, and have the same attitude angle with the accelerometer of the laser gyro single-axis rotation inertia measurement unit. The temperature control box is composed of a temperature control plate, a thermistor and a heating sheet.
The data acquisition processing platform and the computer adopt an FPGA + DSP + ARM architecture, as shown in FIG. 2, the FPGA and the ARM take charge of data acquisition and processing, and the DSP is taken as the computer to take charge of navigation and gravity calculation.
The data acquisition and processing platform processes and records signals of the laser gyroscope, the accelerometer, the gravity sensor, the transposition and angle measuring device, the temperature sensor, the Doppler log and the depth meter in real time.
The method comprises the steps that a computer executes combined navigation calculation and gravity real-time data processing tasks, 1 computer receives a laser gyroscope, a high-precision accelerometer, a Doppler log, a depth meter, indexing angle information and temperature information, the speed information of the Doppler log and the water depth information of the depth meter are used as external observation quantities of a laser gyroscope single-axis rotation inertia measurement unit, extended Kalman filtering is applied, the position, the speed and the posture of an underwater navigation and gravity measurement integrated system are calculated, and the algorithm flow is shown in figure 3.
The filtering state equation of the underwater combined navigation system is
Figure BDA0002543852100000031
Wherein, XkIs the system state vector, phik+1/kIs a matrix of state transitions that is,k+1is the noise transfer matrix of the system, WKIs a noise matrix. The state vector is:
Figure BDA0002543852100000037
wherein the content of the first and second substances,
Figure BDA0002543852100000038
are respectively 3 error angles, V of the strapdown inertial navigation mathematical platformE，VN，VUPEast, north and sky speed errors, L, lambda, h respectivelyFor longitude, latitude and altitude errors, Gx，GyAnd GzZero drift, A, for the X, Y, Z axes of the gyroscope, respectivelyx，Ay，AzZero offset for the X, Y, and Z axes of the accelerometer, respectively. The W noise matrix consists of white noise from the gyroscope and accelerometer:
W＝[wgx,wgy,wgz,wax,way,waz]T(2)
state transition matrix:
Φk+1/k≈En+Fk·Δt (3)
wherein E isnIs an identity matrix, FkIs a matrix of combined system error equations, F ═ Fi,j],i,j＝1,…15，fi,jThe non-zero terms are: f. of1,9＝nN；f1,13＝c11；f1,14＝c12；f1,15＝c13；f2,7＝-f1,8＝nh；f2,13＝c21；f2,14＝c22；f2,15＝c23； f3,8＝-f2,9＝nE；f3,13＝c31；f3,14＝c32；f3,15＝c33；
Figure BDA0002543852100000032
f6,3＝1； f7,9＝-f9,7＝-ωN,
Figure BDA0002543852100000033
f8,9＝-f9,8＝ωE,
Figure BDA0002543852100000034
Figure BDA0002543852100000035
f8,10＝c21；f8,11＝c22；f8,12＝c23；
Figure BDA0002543852100000036
f9,10＝c31,f9,11＝c32,f9,12＝c33；f7,10＝c11；f7,11＝c12；f7,12＝c13。
cijIs an attitude matrix element, U is the angular rate of rotation of the earth, nE,nN,nhRespectively the accelerometer specific force in the northeast direction.
The observation equation of the underwater combined navigation system is
Zk+1＝Hk+1Xk+1+Vk+1(4)
Wherein Zk+1Is an observation vector, Hk+1Is an observation matrix, Vk+1The noise matrix is observed, specifically as follows:
Figure BDA0002543852100000041
wherein, VE,IAnd VN,IEast and north velocities, V, respectively calculated by the laser gyro single-axis rotation strapdown inertial navigation systemE,DVLAnd VN,BVLEast and north, h, of the Doppler log outputIIs the depth h calculated by the laser gyro single-axis rotation strapdown inertial navigation systemDIs the depth of the depth gauge output. Observation matrix Hk+1＝[hi,j]The non-zero terms in i-1, … 5, j-1, … 13 are: h is1,1＝h2,2＝h3,3＝1，h1,8＝-VN，h2,8＝VE。
The method comprises the steps that 1 computer receives information of a gravity sensor and temperature information and position, speed and posture information of an integrated system of underwater navigation and gravity measurement, specific force of the gravity sensor under a local geographic coordinate system is calculated, gravity measurement correction such as Hertefses correction, zero drift correction and hysteresis effect correction is conducted on the specific force of the gravity sensor, Fir low-pass filtering processing is conducted on corrected data, and a local gravity value is obtained.
The contents not described in detail in the present specification belong to the known techniques of those skilled in the art, and should indicate that: it will be apparent to those skilled in the art that various modifications and equivalents may be made without departing from the spirit of the invention, and it is intended that all such modifications and equivalents as fall within the scope of the invention as defined in the claims appended hereto.

Claims (3)

1. The utility model provides an integrated system is measured with gravity to navigation under water which characterized in that: the system comprises 3 laser gyroscopes, 3 pendulum flexible accelerometers, 3 gravity sensors, a transposition and angle measuring device, a temperature sensor, a temperature control box, a Doppler log, a depth gauge, 2 computers, a data acquisition and processing platform, an LCD display and a circuit board; the 3 laser gyroscopes and the 3 pendulum flexible accelerometers are placed on the indexing mechanism to form a laser gyroscope single-axis rotation inertia measurement unit; the gravity sensor is placed in the temperature control box, is rigidly fixed with the laser gyro single-axis rotation inertia measurement unit, and has the same attitude angle with an accelerometer of the laser gyro single-axis rotation inertia measurement unit.
2. The integrated underwater navigation and gravity measurement system according to claim 1, wherein: the data acquisition and processing platform processes and records signals of the laser gyroscope, the accelerometer, the gravity sensor, the transposition and angle measuring device, the temperature sensor, the Doppler log and the depth meter in real time; in the 2 computers, 1 computer receives the laser gyroscope, the pendulum flexible accelerometer, the Doppler log, the depth meter, the indexing angle information and the temperature information, the speed information of the Doppler log and the water depth information of the depth meter are used as external observation quantities of the laser gyroscope single-shaft rotation inertia measurement unit, and the position, the speed and the posture of the integrated system of underwater navigation and gravity measurement are calculated by applying extended Kalman filtering; and the other 1 computer receives the information of the gravity sensor, the temperature information and the position, the speed and the attitude information of the integrated system of the underwater navigation and the gravity measurement, calculates the specific force of the gravity sensor under a local geographic coordinate system, and performs gravity measurement correction and low-pass filtering to obtain a local gravity value.
3. The integrated underwater navigation and gravity measurement system according to claim 1, wherein: the data acquisition processing platform and the computer adopt an FPGA + DSP + ARM architecture.
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