CN113703018A - DVL internal and external error calibration method - Google Patents

DVL internal and external error calibration method Download PDF

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CN113703018A
CN113703018A CN202110784344.6A CN202110784344A CN113703018A CN 113703018 A CN113703018 A CN 113703018A CN 202110784344 A CN202110784344 A CN 202110784344A CN 113703018 A CN113703018 A CN 113703018A
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dvl
coordinate system
ins
calibration method
gps
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CN113703018B (en
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刘静晓
李海兵
马思乐
罗建刚
李海虎
张峰
罗骋
张同伟
马晓静
王友东
付碧波
刘伟
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Aerospace Times Qingdao Marine Equipment Technology Development Co ltd
Shandong University
Qingdao National Laboratory for Marine Science and Technology Development Center
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Aerospace Times Qingdao Marine Equipment Technology Development Co ltd
Shandong University
Qingdao National Laboratory for Marine Science and Technology Development Center
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

Abstract

The invention discloses a DVL internal and external error calibration method, which determines external parameter error influence factors influencing DVL measurement by establishing an error model of an INS/GPS integrated navigation system and a DVL system: roll, pitch and course angles of the DVL coordinate system relative to the carrier coordinate system, and intrinsic parameter error impact factors: the calibration method is simple and effectively improves the calibration efficiency, and the calibration method provided by the invention is suitable for the condition that the installation error angle is large, and reduces the installation requirement.

Description

DVL internal and external error calibration method
Technical Field
The invention belongs to the technical field of underwater navigation and positioning, and particularly relates to a DVL internal and external error calibration method.
Background
Navigation and positioning are key technologies for realizing underwater high-precision navigation by an AUV (autonomous vehicle). An INS (inertial navigation system) is often used as a main navigation system of an AUV due to its autonomy, concealment, continuity, and the like, but its error accumulates with time. The DVL (Doppler velocimeter) can provide carrier information with higher precision, errors are not accumulated along with time, and the errors of the INS can be effectively corrected. Therefore, effective calibration of the error of the DVL is the key to improve the accuracy of the INS/DVL combined navigation.
The velocity measurement error sources of the DVL mainly include an installation deflection angle error, a scale factor error, a carrier attitude error, a beam width error and the like, wherein the calibration of the installation deflection angle error and the scale factor error has important significance for improving the INS/DVL combined navigation accuracy.
Some existing calibration methods are, for example: the method comprises a Kalman filtering method, a least square method, a quaternion theory based on gradient descent, online estimation by taking a DVL parameter as a state parameter of a combined navigation Kalman filter, a support vector regression method and the like, wherein the calibration methods do not consider the time non-alignment error of sensor data and cannot simultaneously meet the requirements of large misalignment angle calibration and simple and efficient calibration process.
Disclosure of Invention
The invention aims to provide a DVL internal and external error calibration method, which is suitable for the condition that the installation error angle is large, greatly reduces the installation requirement, simultaneously calibrates internal and external parameters simultaneously, and can effectively improve the calibration efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme:
a DVL internal and external error calibration method is provided, which comprises the following steps: setting parameter sets
Figure BDA0003158530990000021
The value range, the maximum iteration number and the population scale of (1); wherein the content of the first and second substances,
Figure BDA0003158530990000022
roll, pitch and course angles of a DVL coordinate system relative to a carrier coordinate system are provided, and delta K is a scale coefficient error between actual measured data of the DVL and an output speed; respectively converting INS/GPS combined navigation measurement data and DVL measurement data into a carrier coordinate system, and taking the sum of root mean square errors of the INS/GPS combined navigation measurement data and the DVL measurement data in x, y and z directions as a fitness function; and carrying out selection, crossing and mutation operations on the population until a termination condition is met.
Further, before setting the value range of the parameter set, the method further includes: and carrying out cubic spline interpolation processing on the INS/GPS combined navigation measurement data and the DVL measurement data.
Further, before setting the value range of the parameter set, the method further includes: an error model of the INS/GPS integrated navigation system and the DVL system is established as
Figure BDA0003158530990000023
Figure BDA0003158530990000024
Wherein the content of the first and second substances,
Figure BDA0003158530990000025
attitude matrix, V, for INS/GPS combined navigationINS/GPSFor the speed in the navigation coordinate system output by the INS/GPS combination,
Figure BDA0003158530990000026
a basic rotation matrix, V, for roll, pitch and course angles of the DVL coordinate system to the carrier coordinate systemdIs the velocity in the DVL coordinate system.
Further, after establishing an error model of the INS/GPS integrated navigation system and the DVL system, the method further includes: converting the DVL coordinate system into a range coincident with the carrier coordinate system according to the installation relation of the DVL and the carrier so as to convert the DVL coordinate system into the range coincident with the carrier coordinate system
Figure BDA0003158530990000027
Limited within a predetermined range.
Further, the selection, crossing and mutation operations are carried out on the population, and specifically comprise the following steps: selecting and cross-operating the population by adopting a monarch scheme; after the crossover operation, performing multi-point mutation on the newly generated population to generate a sub-population; combining the child group and the parent group and then sorting according to the fitness value; taking the individuals with the preset number as a new population.
Compared with the prior art, the invention has the advantages and positive effects that: in the DVL internal and external error calibration method provided by the invention, the error caused by unstable frequency of DVL output data is reduced by interpolating the original data measured by the INS/GPS integrated navigation system and the DVL system, the external parameter error influence factor and the internal parameter error influence factor influencing the DVL measurement are determined by establishing the error model of the INS/GPS integrated navigation system and the DVL system, and then the internal and external parameters are calibrated simultaneously by adopting a genetic algorithm.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a flow chart of a DVL internal and external error calibration method proposed by the present invention;
FIG. 2 is a schematic diagram of INS and DVL installation error angles.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1, the DVL internal and external error calibration method provided by the present invention includes:
step S1: and establishing an error model of the INS/GPS combined navigation system and the DVL system.
Assuming the carrier coordinate system OxbybzbDVL coordinate system of OxdydzdThe deviation relationship of the installation error angle between the two is shown in fig. 2. And the carrier coordinate system is a coordinate system of a carrier for carrying the INS/GPS integrated navigation system and the DVL system.
In practical application, a scale coefficient error exists between the output speed of the DVL sensor and the actual speed, namely an internal parameter error, which is expressed by delta K, and the actual measured speed of the DVL is expressed by
Figure BDA0003158530990000031
Indicating the DVL output speed by VdThis means that there are:
Figure BDA0003158530990000032
suppose the velocity measured by the INS/GPS integrated navigation system is VINS/GPSIndicating the attitude transformation matrix from INS/GPS integrated navigation coordinate system to carrier coordinate system
Figure BDA0003158530990000033
Indicating that the DVL coordinate system can be converted into the INS/GPS combined navigation coordinate systemExpressed as:
Figure BDA0003158530990000041
wherein the content of the first and second substances,
Figure BDA0003158530990000042
for the conversion relationship from DVL coordinate system to carrier coordinate system, since any complex angular position relationship between two coordinate systems can be regarded as the compound of limited basic rotation, if the roll, pitch and course angles of DVL coordinate system relative to carrier coordinate system are respectively theta, phi and psi, then there is basic rotation matrix of roll, pitch and course angles from DVL coordinate system to carrier coordinate system
Figure BDA0003158530990000043
Comprises the following steps:
Figure BDA0003158530990000044
then
Figure BDA0003158530990000045
Can be expressed as:
Figure BDA0003158530990000046
based on the above, in the invention, the idea of calibrating by adopting the genetic algorithm is that the parameters to be optimized and solved are
Figure BDA0003158530990000047
Then, the error model established by the present invention is
Figure BDA0003158530990000048
Step S2: and carrying out cubic spline interpolation processing on the INS/GPS combined navigation measurement data and the DVL measurement data.
And performing equal interval interpolation on the original data through cubic spline interpolation processing to obtain the sensor data under the same time reference.
Step S3: setting parameter sets
Figure BDA0003158530990000049
The value range, the maximum iteration number and the population size.
Because the value range of the optimization parameters needs to be preset during genetic algorithm optimization, in practical engineering application, the delta K is a very small value, and
Figure BDA00031585309900000410
because the value range is different from 0 degree to 180 degrees due to the installation structure and the like, if the initial value range is directly limited according to the value range, the iteration times in the genetic algorithm are too many, and the convergence speed is slow.
Therefore, in the embodiment of the present invention, the DVL coordinate system is first converted into a range coinciding with the carrier coordinate system according to the mounting relationship between the DVL and the carrier to convert the DVL coordinate system into a range coinciding with the carrier coordinate system
Figure BDA0003158530990000051
Limited within a predetermined range: assuming that the carrier coordinate system is denoted by b, the DVL coordinate system is converted to a coordinate system within a limited range of coincidence with the carrier coordinate system
Figure BDA0003158530990000052
Is shown as such
Figure BDA0003158530990000053
The angle of rotation between b can be controlled within a small range, provided that b is relative to
Figure BDA0003158530990000054
The roll, pitch and course angles of the system are α, β, γ, respectively, then the error model can be expressed as:
Figure BDA0003158530990000055
based on the above, in the embodiment of the present invention, the value ranges of the parameter sets (α, β, γ, δ K) are set, where the value ranges of α, β, γ are [ -0.3,0.3] rad, and the value range of δ K is [ -0.1,0.1 ]; and setting the maximum iteration number G as 5000 and the population size NP as 100, and coding the parameter set in a real number coding mode.
Step S4: and respectively converting the INS/GPS combined navigation measurement data and the DVL measurement data into a carrier coordinate system, and taking the sum of root mean square errors of the INS/GPS combined navigation measurement data and the DVL measurement data in the x direction, the y direction and the z direction as a fitness function.
Designing the fitness function includes:
suppose Vb＝[xb，yb，zb]T,Vd＝[xd，yd，zd]TTaking the sum of the root mean square errors of the two directions as a fitness function:
Fit＝RMSx+RMSy+RMSz (6)
wherein the content of the first and second substances,
Figure BDA0003158530990000056
Figure BDA0003158530990000057
step S5: and carrying out selection, crossing and mutation operations on the population until a termination condition is met.
Selecting and cross-operating the population by adopting a monarch scheme; after the crossover operation, performing multi-point mutation on the newly generated population to generate a sub-population; combining the child group and the parent group and then sorting according to the fitness value; several individuals were set as new populations before.
Setting the cross probability to be 0.7 and the mutation probability to be 0.3, and ending the search process to output a final optimized value when the iteration times reach G times.
According to the DVL internal and external error calibration method provided by the invention, the external parameter error influence factor and the internal parameter error influence factor which influence DVL measurement are determined by establishing the error model of the INS/GPS integrated navigation system and the DVL system, and then the internal and external parameters are calibrated simultaneously by adopting a genetic algorithm, so that the calibration method is simple and the calibration efficiency is effectively improved; the sensor data are unified by adopting cubic spline interpolation to carry out time reference, the calibration precision is improved, and the calibration method provided by the invention is suitable for the condition that the installation error angle is large, and the installation requirement is reduced.
It should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art should also make changes, modifications, additions or substitutions within the spirit and scope of the present invention.

Claims (5)

1. A DVL internal and external error calibration method is characterized by comprising the following steps:
setting parameter sets
Figure FDA0003158530980000011
The value range, the maximum iteration number and the population scale of (1); wherein, theta,
Figure FDA0003158530980000012
Psi is the roll, pitch and course angle of the DVL coordinate system relative to the carrier coordinate system, and delta K is the scale coefficient error between the DVL output speed and the actual speed;
respectively converting INS/GPS combined navigation measurement data and DVL measurement data into a carrier coordinate system, and taking the sum of root mean square errors of the INS/GPS combined navigation measurement data and the DVL measurement data in x, y and z directions as a fitness function;
and carrying out selection, crossing and mutation operations on the population until a termination condition is met.
2. The DVL internal and external error calibration method according to claim 1, wherein before setting the value range of the parameter set, the method further comprises:
and carrying out cubic spline interpolation processing on the INS/GPS combined navigation measurement data and the DVL measurement data.
3. The DVL internal and external error calibration method according to claim 1, wherein before setting the value range of the parameter set, the method further comprises:
an error model of the INS/GPS integrated navigation system and the DVL system is established as
Figure FDA0003158530980000013
Wherein the content of the first and second substances,
Figure FDA0003158530980000014
attitude matrix, V, for INS/GPS combined navigationINS/GPSVelocity in the navigational coordinate System output for INS/GPS combination, Cθ、
Figure FDA0003158530980000015
CΨA basic rotation matrix, V, for roll, pitch and course angles of the DVL coordinate system to the carrier coordinate systemdIs the velocity in the DVL coordinate system.
4. The DVL internal and external error calibration method according to claim 3, wherein after establishing the error model of the INS/GPS integrated navigation system and the DVL system, the method further comprises:
converting the DVL coordinate system into a range coinciding with the carrier coordinate system according to the installation relation of the DVL and the carrier so as to convert theta,
Figure FDA0003158530980000016
Psi is limited to a predetermined range.
5. The DVL internal and external error calibration method according to claim 1, wherein the selecting, crossing and mutating operations are performed on the population, and specifically:
selecting and cross-operating the population by adopting a monarch scheme;
after the crossover operation, performing multi-point mutation on the newly generated population to generate a sub-population;
combining the child group and the parent group and then sorting according to the fitness value;
taking the individuals with the preset number as a new population.
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CN106646423A (en) * 2016-12-13 2017-05-10 电子科技大学 Genetic algorithm-based coherent accumulation heterodyne detection method
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