CN113093099A - Rotation error correction method of multi-orthogonal-signal underwater navigation system - Google Patents
Rotation error correction method of multi-orthogonal-signal underwater navigation system Download PDFInfo
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Abstract
The invention belongs to the technical field of error correction of underwater navigation systems, and discloses a rotation error correction method of a multi-orthogonal-signal underwater navigation system, which comprises the following steps: a transmitting source in a transmitting end transmitting array transmits a plurality of mutually orthogonal signals; processing the received signals at a receiving end; separating a plurality of received signals by matched filtering; reading phase information of a plurality of received signals, and solving a position rough value of a receiving end under a geodetic coordinate system according to a positioning resolving principle of a multi-orthogonal signal underwater navigation system; collecting attitude and position information of a transmitting terminal and rotation rate information of a motion platform, and solving a phase value to be compensated according to a rotation correction algorithm; after phase compensation, the phase information is read again, and the accurate position of the receiving end under the geodetic coordinate system is calculated. The invention can effectively correct the positioning error caused by the rotation of the platform.
Description
Technical Field
The invention belongs to the technical field of rotation error correction of underwater navigation systems, and particularly relates to a rotation error correction method of a multi-orthogonal-signal underwater navigation system.
Background
The underwater navigation system with multiple orthogonal signals can work under a moving platform, which is called as a moving platform type, and can also work under a static platform, which is called as a static platform type.
However, when the multi-orthogonal signal underwater navigation system works under the motion platform, the rotation of the motion platform brings certain errors to the positioning of the multi-orthogonal signal underwater navigation system, that is, the motion platform errors, which results in the reduction of the positioning accuracy.
Therefore, a new method for correcting the rotation error of the underwater navigation system with multiple orthogonal signals is needed.
Through the above analysis, the problems and defects of the prior art are as follows:
when the existing multi-orthogonal signal underwater navigation system works under a motion platform, the rotation of the motion platform can bring certain errors to the navigation positioning of the underwater navigation system, namely the errors of the motion platform, so that the positioning precision is reduced to some extent
The significance of solving the problems and the defects is as follows:
the positioning accuracy of the multi-orthogonal signal underwater navigation system is improved, the performance of the multi-orthogonal signal underwater navigation system is enhanced, and the multi-orthogonal signal underwater navigation system is widely applied.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a rotation error correction method of a multi-orthogonal signal underwater navigation system.
The invention is realized in such a way that a rotation error correction method of a multi-orthogonal signal underwater navigation system comprises the following steps:
each emission source respectively emits a plurality of mutually orthogonal signals;
the receiving end receives a plurality of mutually orthogonal signals transmitted by the transmitting end and separates the received signals through matched filtering;
reading the phase information of the plurality of receiving signals, and solving a rough position value of the receiving end under a transmitting end matrix coordinate system by utilizing a positioning resolving principle of a multi-orthogonal signal underwater navigation system;
firstly, transmitting mutually orthogonal signals by each emission source respectively;
and step two, the receiving end receives a plurality of mutually orthogonal signals transmitted by the transmitting end.
Separating the received signals through matched filtering, and separating a plurality of received signals through matched filtering;
reading the phase information of the plurality of receiving signals, and solving a rough position value of the receiving end under a transmitting end matrix coordinate system by utilizing a positioning resolving principle of a multi-orthogonal signal underwater navigation system;
step five, the receiving end acquires the position and the posture of the transmitting time of the transmitting end in a geodetic coordinate system and the rotation rate information of the transmitting end;
step six, the receiving end synthesizes the position and the attitude of the transmitting time of the transmitting end in the geodetic coordinate system and the calculated rough position value of the transmitting end in the transmitting end matrix coordinate system, and calculates the rough position value of the receiving end in the geodetic coordinate system;
step seven, calculating an error phase brought by rotation of the receiving end needing compensation by utilizing the position and the posture of the transmitting time of the transmitting end in the geodetic coordinate system, the rotating rate information of the transmitting end and the rough position value of the receiving end in the geodetic coordinate system;
step eight, performing phase compensation on the separated receiving signals, re-reading phase information, and re-calculating an accurate position value of the receiving end under the transmitting end matrix coordinate system;
and step nine, integrating the position and the posture of the transmitting time of the transmitting end under the geodetic coordinate system, and calculating the accurate position value of the receiving end under the geodetic coordinate system.
Further, in the seventh step and the eighth step, the rotation correction algorithm is as follows:
where x represents the multiplication of vectors, is the inner product of vectors, vnIndicating the nth transmitting array of the transmitting terminalThe radial velocity of the element relative to the receiving end, n is the serial number of the transmitting array element, and L is a direction vector of a connecting line between the transmitting array center of the transmitting end and the receiving end in a geodetic coordinate system; superscript and subscript E, P, A represent a geodetic coordinate system, a motion platform coordinate system, and an emission matrix coordinate system, respectively;
a rotation matrix representing the motion platform coordinate system P relative to the geodetic coordinate system E.
And a rotation matrix representing the transmission matrix coordinate system A relative to the motion platform coordinate system P.
ΔR(Pω) represents the rotation matrix of the motion platform under the motion platform coordinate system P.
4. The rotation error correction method of a multi-orthogonal signal underwater navigation system as claimed in claim 1, wherein the phase deviation value to be compensated is:
wherein T represents the pulse width of the transmitted signal, C represents the propagation velocity of the sound wave in water, and f0Representing the center frequency of the transmitted signal;
further, the phase difference to be compensated is:
wherein T represents the pulse width of the transmitted signal, C represents the propagation velocity of the transmitted signal in water, and f0Representing the center frequency of the transmitted signal.
The phase compensation is carried out on the signal after the matched filtering output,
yn(τn0)＝y'n(τn0)exp(jΔφ’n)。
wherein, y'n(τn0) Matched filter corresponding to signal emitted by nth array element at peak value taun0Signal of the time of day output, yn(τn0) Is a compensated signal.
The rotation error correction system of the multi-orthogonal signal underwater navigation system comprises:
the signal transmitting module is used for transmitting a plurality of mutually orthogonal signals through each transmitting source of the transmitting end;
the signal processing module is used for processing the received multiple signals at a receiving end;
the signal filtering and separating module is used for separating a plurality of received signals through matched filtering;
the rough value resolving module is used for reading the phase information of the plurality of receiving signals, resolving a rough position value of the receiving end under a transmitting end matrix coordinate system by utilizing a positioning resolving principle of a multi-orthogonal signal underwater navigation system, integrating the position and the posture of the transmitting time of the transmitting end under the geodetic coordinate system and the resolved rough position value of the receiving end under the transmitting end matrix coordinate system, and resolving the rough position value of the receiving end under the geodetic coordinate system;
the position correction module is used for calculating an error phase brought by rotation of the receiving end needing compensation by utilizing the position and the posture of the transmitting time of the transmitting end in a geodetic coordinate system, the rotating rate information of the transmitting end and the rough position value of the receiving end in the geodetic coordinate system;
carrying out phase compensation on the separated receiving signals, re-reading phase information, and re-solving an accurate position value of the receiving end under a transmitting end matrix coordinate system; and integrating the position and the posture of the transmitting time of the transmitting end under the geodetic coordinate system, and calculating the accurate position value of the receiving end under the geodetic coordinate system.
By combining all the technical schemes, the invention has the advantages and positive effects that: the rotation error correction method of the multi-orthogonal-signal underwater navigation system provided by the invention can effectively correct the positioning error caused by the rotation of the platform through a rotation error correction algorithm based on phase compensation.
Technical effect or experimental effect of comparison. The method comprises the following steps: as shown in fig. 4, a multi-orthogonal signal underwater navigation system under a motion platform is simulated by MATLAB. In the figure, the solid line is the actual value of the receiving end, the square is the compensated positioning value, and the dotted line is the uncompensated positioning value. It can be seen from the figure that the correction value obtained after the rotation compensation of the positioning value measured by the underwater navigation system is basically consistent with the actual value of the receiving end.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a rotation error correction method of a multi-orthogonal signal underwater navigation system according to an embodiment of the present invention.
FIG. 2 is a block diagram of a rotation error correction system of the underwater navigation system with multiple orthogonal signals according to the embodiment of the present invention;
in the figure: 1. a signal transmitting module; 2. a signal processing module; 3. a signal filtering and separating module; 4. a rough value resolving module; 5. a position correction module; .
Fig. 3 is a schematic diagram of a rotation error correction system of the underwater navigation system with multiple orthogonal signals according to the embodiment of the present invention.
Fig. 4 is a simulation diagram of a multi-orthogonal signal underwater navigation system under a moving platform through MATLAB, which is provided by the embodiment of the invention.
FIG. 5 is a simplified plan view of a multi-quadrature signal underwater navigation system
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a rotation error correction method of a multi-orthogonal signal underwater navigation system, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the method and system for correcting the rotation error of the underwater navigation system with multiple orthogonal signals provided by the embodiment of the present invention includes the following steps:
s101, transmitting mutually orthogonal signals by each transmitting source;
s102, a receiving end receives a plurality of mutually orthogonal signals transmitted by a transmitting end, separates the received signals through matched filtering, and separates a plurality of received signals through matched filtering;
s103, reading the phase information of the plurality of receiving signals, and solving a rough position value of the receiving end under a transmitting end matrix coordinate system by using a positioning resolving principle of a multi-orthogonal signal underwater navigation system;
s104, the receiving end acquires the position and the attitude of the transmitting time of the transmitting end in a geodetic coordinate system and the rotating speed information of the transmitting end, synthesizes the position and the attitude of the transmitting time of the transmitting end in the geodetic coordinate system and the calculated rough position value of the transmitting end in a transmitting end matrix coordinate system, and calculates the rough position value of the receiving end in the geodetic coordinate system;
s105, calculating a phase error caused by rotation of a receiving end needing compensation by using the position and the posture of the transmitting time of the transmitting end in a geodetic coordinate system, the rotating rate information of the transmitting end and the rough position value of the receiving end in the geodetic coordinate system;
and S106, performing phase compensation on the separated receiving signals, re-reading phase information, re-calculating the accurate position value of the receiving end under the transmitting end matrix coordinate system, integrating the position and the posture of the transmitting time of the transmitting end under the geodetic coordinate system, and calculating the accurate position value of the receiving end under the geodetic coordinate system.
As shown in fig. 2, the rotation error correction system based on the underwater navigation system according to the embodiment of the present invention includes:
the signal transmitting module 1 is used for transmitting a plurality of mutually orthogonal signals through each transmitting source of a transmitting end;
the signal processing module 2 is used for processing a plurality of received signals at a receiving end;
a signal filtering and separating module 3, configured to separate a plurality of received signals by matched filtering;
the rough value resolving module 4 is used for reading the phase information of the plurality of receiving signals, resolving a rough position value of the receiving end under a transmitting end matrix coordinate system by utilizing a positioning resolving principle of a multi-orthogonal signal underwater navigation system, synthesizing the position and the posture of the transmitting time of the transmitting end under the geodetic coordinate system and the resolved rough position value of the transmitting end under the transmitting end matrix coordinate system by the receiving end, and resolving the rough position value of the receiving end under the geodetic coordinate system;
the position correction module 5 is used for calculating an error phase brought by rotation of the receiving end needing compensation by utilizing the position and the posture of the transmitting time of the transmitting end in the geodetic coordinate system, the rotating rate information of the transmitting end and the rough position value of the receiving end in the geodetic coordinate system; carrying out phase compensation on the separated receiving signals, re-reading phase information, and re-solving an accurate position value of the receiving end under a transmitting end matrix coordinate system; and integrating the position and the posture of the transmitting time of the transmitting end under the geodetic coordinate system, and calculating the accurate position value of the receiving end under the geodetic coordinate system.
The present invention will be further described with reference to the following examples.
Aiming at the problems caused by the rotation of a motion platform, the invention provides a rotation error correction algorithm based on phase compensation, which can effectively correct the positioning error caused by the rotation of the platform, and specifically comprises the following steps:
(1) each transmitting source of the transmitting end transmits a plurality of mutually orthogonal signals.
(2) And processing the received signals at the receiving end.
(3) The multiple received signals are then separated by matched filtering.
(4) Reading the phase information of the plurality of receiving signals, and solving a rough position value of the receiving end under a transmitting end matrix coordinate system by utilizing a positioning resolving principle of a multi-orthogonal signal underwater navigation system;
if the transmitting terminal array is a planar array as shown in fig. 5, the positioning calculation formula is as follows:
wherein x 'and y' represent the rough values of the receiving end under the matrix coordinate system A,
and
phase differences of signals received by adjacent array elements in the directions of an x axis and a y axis in a matrix coordinate system are respectively shown, lambda is signal wavelength, d is the interval of transmitting array elements, and l is the distance between a receiving end and a transmitting end.
(5) And calculating the radial speed of each transmitting array element in the transmitting end relative to the receiving end by utilizing the position and the posture of the transmitting time of the transmitting end in the geodetic coordinate system, the rotating speed information of the transmitting end and the rough position value of the receiving end in the geodetic coordinate system.
Where x represents the multiplication of vectors, is the inner product of vectors, vnThe radial speed of the nth transmitting array element of the transmitting end relative to the receiving end is shown, n is the serial number of the transmitting array element,l is a direction vector of a connecting line of the transmitting end transmitting array center and the receiving end under a geodetic coordinate system; superscript and subscript E, P, A represent a geodetic coordinate system, a motion platform coordinate system, and an emission matrix coordinate system, respectively;
wherein, alpha, beta and gamma are Euler angles.
wherein, σ, κ,
Is the euler angle.
ΔR(Pω) representing a rotation matrix of the motion platform under the motion platform coordinate system V, which can be expressed as:
whereinPωx、Pωy、PωzRespectively the roll, pitch and yaw rates of the motion platform.
Further, the phase difference to be compensated is:
wherein T represents the pulse width of the transmitted signal, C represents the propagation velocity of the transmitted signal in water, and f0Representing the center frequency of the transmitted signal.
The phase compensation is carried out on the signal after the matched filtering output,
yn(τn0)＝y'n(τn0)exp(jΔφ’n)。
wherein, y'n(τn0) Matched filter corresponding to signal emitted by nth array element at peak value taun0Signal of the time of day output, yn(τn0) Is a compensated signal.
Re-reading the phase information, and re-calculating the accurate position value of the receiving end under the transmitting end matrix coordinate system;
and integrating the position and the posture of the transmitting time of the transmitting end under the geodetic coordinate system, and calculating the accurate position value of the receiving end under the geodetic coordinate system.
(6) Reading the phase information again, and calculating the position of the receiving end under the matrix coordinate system according to the following formula:
wherein the content of the first and second substances,
after being corrected, the receiving end T is positioned on the horizontal and vertical coordinates of the matrix coordinate system A,
which represents the peak phase of the matched filter after phase compensation.
And integrating the position and the posture of the transmitting time of the transmitting end under the geodetic coordinate system, and calculating the accurate position value of the receiving end under the geodetic coordinate system.
Wherein the content of the first and second substances,
and represents a coordinate vector of the receiving end T under the geodetic coordinate system E. And x, y and z represent the abscissa, the ordinate and the ordinate of the receiving end in a geodetic coordinate system.
Represents the coordinate vector of the receiving end T under the matrix coordinate system A,
and the vertical coordinate of the receiving end T under the array coordinate system A is represented and can be obtained through a depth measuring instrument.
FIG. 3 is a schematic diagram of a rotation error correction system based on an underwater navigation system according to an embodiment of the present invention
The simulation data is shown in fig. 4. As shown in fig. 4, the underwater navigation system under the motion platform is simulated by MATLAB. In the figure, the solid line is the actual value of the receiving end, the square is the compensated positioning value, and the dotted line is the uncompensated positioning value. It can be seen from the figure that the correction value obtained after the rotation compensation of the positioning value measured by the underwater navigation system is basically consistent with the actual value of the receiving end.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. A rotation error correction method of a multi-orthogonal signal underwater navigation system is characterized in that the multi-orthogonal signal underwater navigation system is composed of a transmitting end and a receiving end, the transmitting end is installed on a moving platform, the transmitting end is formed by rigidly connecting three or more than three transmitting sources to form a transmitting array, the transmitting end rotates relative to a geodetic coordinate system, and linear velocities of all transmitting array elements in the transmitting end are different.
The rotation error correction method of the multi-orthogonal signal underwater navigation system comprises the following steps:
each emission source respectively emits a plurality of mutually orthogonal signals;
the receiving end receives a plurality of mutually orthogonal signals transmitted by the transmitting end and separates the received signals through matched filtering;
reading the phase information of the plurality of receiving signals, and solving a rough position value of the receiving end under a transmitting end matrix coordinate system by utilizing a positioning resolving principle of a multi-orthogonal signal underwater navigation system;
the receiving end acquires the position and the posture of the transmitting end in the geodetic coordinate system at the transmitting moment and the rotation rate information of the transmitting end;
the receiving end synthesizes the position and the attitude of the transmitting time of the transmitting end under a geodetic coordinate system, solves the rough position value of the receiving end under a transmitting end matrix coordinate system and solves the rough position value of the receiving end under the geodetic coordinate system;
calculating a phase error value brought by rotation of a receiving end needing compensation by utilizing the position and the posture of the transmitting moment of the transmitting end in a geodetic coordinate system, the rotating rate information of the transmitting end and the rough position value of the receiving end in the geodetic coordinate system;
carrying out phase compensation on the separated receiving signals, re-reading phase information, and re-solving an accurate position value of the receiving end under a transmitting end matrix coordinate system;
and integrating the position and the posture of the transmitting time of the transmitting end under the geodetic coordinate system, and calculating the accurate position value of the receiving end under the geodetic coordinate system.
2. The method for correcting rotation error of underwater navigation system with multiple orthogonal signals as claimed in claim 1, wherein the linear velocity of each transmitting array element in the transmitting array is different, and the processing of the plurality of received signals at the receiving end comprises:
the received signals are separated by using matched filters corresponding to different signals, and during separation, the received signals are subjected to frequency scanning through the matched filter group, so that a plurality of mutually orthogonal received signals are separated.
3. The rotation error correction method of a multi-orthogonal signal underwater navigation system as claimed in claim 1, characterized in that, the position and attitude of the transmitting end in the geodetic coordinate system at the transmitting time, the rotation rate information of the transmitting end and the rough position of the receiving end in the receiving matrix coordinate system are synthesized. And calculating the radial velocity of each transmitting array element relative to the receiving end. The calculation process is as follows:
wherein x represents a vectorMultiplication,. is the vector inner product, vnThe radial velocity of the nth transmitting array element of the transmitting end relative to the receiving end is n, the serial number of the transmitting array element is represented by n, and L is a direction vector of a connecting line of the transmitting base array center of the transmitting end and the receiving end in a geodetic coordinate system; superscript and subscript E, P, A represent a geodetic coordinate system, a motion platform coordinate system, and an emission matrix coordinate system, respectively;
a rotation matrix representing the motion platform coordinate system P relative to the geodetic coordinate system E.
And a rotation matrix representing the transmission matrix coordinate system A relative to the motion platform coordinate system P.
ΔR(Pω) represents the rotation matrix of the motion platform under the motion platform coordinate system P.
4. The rotation error correction method of a multi-orthogonal signal underwater navigation system as claimed in claim 1, wherein the phase deviation value to be compensated is:
wherein T represents the pulse width of the transmitted signal, C represents the propagation velocity of the sound wave in water, and f0Representing the center frequency of the transmitted signal.
5. The rotational error correction method based on a multi-orthogonal underwater navigation system as claimed in claim 1, wherein the phase compensation method comprises:
the phase compensation is carried out on the signal after the matched filtering output,
yn(τn0)＝y'n(τn0)exp(jΔφ’n)。
wherein, y'n(τn0) Matched filter corresponding to received signal from nth array element at peak value taun0Signal of the time of day output, yn(τn0) Is a compensated signal.
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