CN114199234B - Fault-tolerant underwater inertial integrated navigation method - Google Patents
Fault-tolerant underwater inertial integrated navigation method Download PDFInfo
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- CN114199234B CN114199234B CN202111366855.2A CN202111366855A CN114199234B CN 114199234 B CN114199234 B CN 114199234B CN 202111366855 A CN202111366855 A CN 202111366855A CN 114199234 B CN114199234 B CN 114199234B
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- 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
- G01C21/165—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 combined with non-inertial navigation instruments
- G01C21/1652—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 combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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- G—PHYSICS
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention discloses a fault-tolerant underwater inertial integrated navigation device and a method, comprising the following steps: s1: calibrating the initial position of the underwater vehicle by using water surface high-precision positioning equipment to obtain the initial accurate position of the underwater vehicle; s2: the underwater inertial integrated navigation device sends underwater acoustic signals to the underwater, determines underwater acoustic communication positioning positions, and feeds the underwater acoustic signals back to the strapdown inertial navigation; s3: updating the attitude and position information of the underwater vehicle by strapdown inertial navigation according to the received underwater sound signal; s4: and calibrating the measurement value of the strapdown inertial navigation by using a decision fault tolerance judging mechanism to obtain stable underwater acoustic communication positioning observation information, and outputting accurate positioning data. And carrying out fusion correction on the inertial navigation in the combined positioning system, establishing a state space equation of the combined positioning system based on the position error and the speed error state variable by combining the resolving result of the inertial navigation, and then realizing accurate positioning data output under the combined navigation of underwater acoustic communication positioning and the inertial navigation according to a Kalman filtering equation.
Description
Technical Field
The invention relates to the technical field of underwater navigation, in particular to a fault-tolerant underwater inertial integrated navigation method.
Background
Currently, the common combined navigation modes of the underwater vehicle are as follows: inertial Navigation System (INS)/Doppler Velocimeter (DVL) combinations, inertial Navigation System (INS)/depth gauge/Doppler Velocimeter (DVL) combinations, and the like. Along with the development of the underwater acoustic communication technology, the underwater acoustic communication technology is applied to the combined navigation on the inertial navigation device, so that the high-precision, long-time and hidden navigation requirements can be provided for the underwater navigation body. However, the underwater acoustic communication is positioned in an underwater complex environment and is easy to be interfered by the outside, even the positioning data is lost, the error is coarse and the like, so that the underwater integrated navigation equipment has navigation faults or the positioning precision is reduced. Thus, how to combine underwater acoustic communication with pure inertial navigation equipment and realize accurate navigation is a problem which needs to be solved urgently at present.
The invention particularly provides combined navigation positioning equipment and a method for fault tolerance judgment based on multi-frequency carrier and MFSK combined modulation (OFDM-MFSK) communication technical conditions, and the combined navigation positioning equipment and the method are used for stabilizing according to the output result of judged OFDM-MFSK underwater acoustic communication and calibrating strapdown inertial navigation as a measurement value of a Kalman filtering model of the combined positioning equipment so as to improve the positioning precision and stability of the combined navigation positioning equipment.
Disclosure of Invention
The invention provides a fault-tolerant underwater inertial integrated navigation method, which aims at (1) adding an underwater acoustic communication fault-tolerant judgment mechanism to calibrate strapdown inertial navigation; (2) And the positioning precision and stability of the combined navigation positioning equipment are improved.
The invention provides a fault-tolerant underwater inertial integrated navigation method, which comprises the following steps:
s1: calibrating the initial position of the underwater vehicle by using water surface high-precision positioning equipment to obtain the initial accurate position of the underwater vehicle;
s2: the underwater inertial integrated navigation device sends underwater acoustic signals to the underwater, determines underwater acoustic communication positioning positions, and feeds the underwater acoustic signals back to the strapdown inertial navigation;
s3: updating the attitude and position information of the underwater vehicle by strapdown inertial navigation according to the received underwater sound signal;
s4: and calibrating the measurement value of the strapdown inertial navigation by using a decision fault tolerance judging mechanism to obtain stable underwater acoustic communication positioning observation information, and outputting accurate positioning data.
As a further improvement of the present invention:
in the step S1, the calibrating the initial position of the underwater vehicle by using the water surface high-precision positioning device includes:
the water surface high-precision positioning equipment comprises a water Doppler current meter, high-precision satellite positioning equipment and a water bottom end of underwater acoustic communication, wherein the water Doppler current meter can measure the navigation speed of an underwater navigation body, the water bottom end of the underwater acoustic communication can communicate with the water surface end in real time, the relative position information of a carrier of the underwater communication end is calculated according to the determined position of the water surface end, and the high-precision satellite positioning equipment adopts a high-precision Beidou positioning module and can provide the positioning precision of the underwater navigation body in centimeter level;
and determining a rough initial position area of the underwater vehicle according to the relative position information of the underwater bottom end and the water surface end of underwater acoustic communication, and positioning the rough initial position area of the underwater vehicle by using high-precision satellite positioning equipment to obtain an initial accurate position of the underwater vehicle.
And S2, the underwater inertial integrated navigation device transmits underwater acoustic signals to the underwater, and determines the underwater acoustic communication positioning position, and the method comprises the following steps:
the underwater inertial integrated navigation device is combined with an underwater navigation body, underwater acoustic signals are sent to a navigation area by utilizing the underwater acoustic communication underwater end, wherein three position nodes are selected at the underwater acoustic communication underwater end to send the underwater acoustic signals, the returned underwater acoustic signal information comprises the distance between the position nodes and the current underwater navigation body, whether an obstacle exists between the current underwater navigation body and the position nodes, the underwater acoustic communication of the position nodes is positioned, and the returned underwater acoustic signals are fed back to the strapdown inertial navigation.
And in the step S3, updating the attitude of the underwater vehicle by strapdown inertial navigation according to the received underwater sound signal, wherein the method comprises the following steps:
strapdown inertial navigation establishes a gesture rotation matrix that rotates a navigation coordinate system to an underwater vehicle coordinate system:
wherein:
alpha represents rotating the navigation coordinate system by alpha degrees around the Z axis;
beta represents rotating the navigation coordinate system by beta degrees around the X axis;
θ represents rotating the navigation coordinate system by θ degrees around the Y-axis;
in one embodiment of the invention, the navigation coordinate system is a geographic coordinate system, and the origin of the coordinate system of the underwater vehicle is the center of the underwater vehicle;
transpose the gesture rotation matrix, then:
the real-time attitude angle of the underwater vehicle is as follows:
c＝arcsin(M 23 )
wherein:
representing a yaw angle of the underwater vehicle;
c represents the roll angle of the underwater vehicle;
and judging whether the yaw angle and the roll angle of the underwater vehicle are the same as the underwater acoustic communication positioning direction or not by strapdown inertial navigation, and if the yaw angle and the roll angle are different from the underwater acoustic communication positioning direction, adjusting the posture of the underwater vehicle so that the underwater vehicle navigates to the underwater acoustic positioning direction.
And in the step S3, updating the position information of the underwater vehicle by strapdown inertial navigation according to the received underwater sound signal, wherein the method comprises the following steps:
and (3) calculating a speed update formula of the underwater vehicle by strapdown inertial navigation:
v(t+1)＝M(t)b(t)-2w(t)*v(t)
wherein:
v (t) represents the projection of the speed of the underwater vehicle in the navigation coordinate system at time t;
m (t) represents an attitude rotation matrix of the speed of the underwater vehicle at the time t;
w (t) ×v (t) represents a centripetal acceleration;
the position update formula for the underwater vehicle is:
wherein:
s (t) represents the position of the underwater vehicle at time t.
In the step S4, determining whether the positioning of the underwater acoustic communication is lost includes:
before the fault tolerance judgment decision is started, the underwater acoustic communication positioning data at the current moment and the front and back moments are used as the input of a decision tree model, namely the underwater acoustic communication positioning data at the k-1 moment, the current k moment and the k+1 moment; the established positioning model is a combined positioning model of strapdown inertial navigation/OFDM-MFSK (multi-frequency carrier wave and MFSK combined modulation) underwater acoustic communication;
entering into the judgment of the decision fault tolerance layer 1, judging whether the underwater acoustic communication positioning data is lost, and determining by judging whether the time interval between the front data and the rear data is larger than the sampling period, namely:
t-t U,k >t U,t
wherein:
t represents the current time;
t U,k the sampling time of the k moment of underwater acoustic communication positioning is represented;
t U,t sampling period for positioning underwater sound communication;
because of lacking observed quantity of underwater acoustic communication positioning, kalman filtering is not performed, and the position of the moving target is calculated only by using strapdown inertial navigation, namely, the attitude and position information of the underwater vehicle are adjusted by using the strapdown inertial navigation.
In the step S4, predicting a position of the underwater acoustic communication location at a next time, and determining whether the predicted position deviates includes:
if no underwater acoustic communication positioning data loss exists, predicting data of the next time of underwater acoustic communication positioning by using the data of k-1 and k time and the yaw angle of the corresponding time of strapdown inertial navigation, wherein the prediction formula is as follows:
wherein:
p pre,k+1 positioning the calculated predicted point for the underwater sound communication;
for inertial navigation, yaw angle obtained after positioning and resolving>Combining the position of the positioning system for the moment k, p U,k Positioning measurement values of the underwater acoustic communication positioning at the moment k for the underwater acoustic communication positioning;
the time sequence relation between inertial navigation and underwater acoustic communication positioning satisfies t I,i <t U,k+1 <t I,i+1 ；
And calculating a normalized coefficient of the distance between adjacent measured values of the underwater acoustic communication positioning by using a normal distribution function, and evaluating the deviation degree between a predicted value and the measured values, wherein the distance between the predicted value and the measured values and the position deviation parameter under normal distribution are calculated as follows:
δp pre，k+1 ＝||p U，k+1 -p pre，k+1 ||
wherein:
mu and sigma are respectively mean parameter and variance parameter in normal distribution function, S (x) is expressed as normal distribution probability density function;
δp pre·U,k+1 the distance between the underwater sound communication positioning predicted value and the measured value is obtained through a vector distance formula;
ε k+1 to delta p pre·U,k+1 The normalized position deviation parameter;
setting a deviation parameter threshold value tau for judging whether the ultra-wideband measured value meets the position condition or not ε If epsilon k+1 >τ ε Then consider the current pre-formThe position is deviated.
In the step S4, judging whether the measured value of the positioning result of the underwater acoustic communication is deviated from the direction:
because the position deviation parameter is used for judging the distance parameter in the combined positioning system, the underwater acoustic communication positioning result is required to be effectively judged from the direction because the underwater acoustic communication positioning meets the distance condition in the positioning process, but the random change condition which does not accord with the motion rule appears in the motion direction;
and calculating an approximate moving target moving direction according to two adjacent underwater acoustic communication positioning measurement values, comparing the moving target moving direction with a yaw angle obtained by inertial navigation positioning calculation, and setting an azimuth angle difference judgment threshold value to judge the azimuth angle of the underwater acoustic communication positioning result. Azimuth angle calculated by underwater acoustic communication positioning measurement valueThe method comprises the following steps:
and then the angle difference parameters between the two combined positioning systems are obtained as follows:
wherein:
a yaw angle calculated for strapdown inertial navigation;
in consideration of the higher sampling rate of the underwater acoustic communication positioning, the monitored moving speed of the moving target is not suddenly changed in the front and rear sampling points and is kept in a reasonable and normal range, so that the distance and the distance difference between adjacent measuring points of the underwater acoustic communication positioning are adopted for measuring data judgment:
wherein:
d k+1,k representing the distance between measurement points at adjacent time of underwater acoustic communication positioning;
τ U,d1 and τ U,d2 Respectively positioning a threshold value of the sum and the difference of the distance values of two adjacent measuring points for underwater acoustic communication;
if the position information of the underwater acoustic communication positioning measurement point is accurate, the relationship formula of the measurement data judgment must be satisfied, and the underwater acoustic communication positioning measurement value satisfying the relationship formula is used as the observed quantity of the Kalman filtering, and the calculation formula of the Kalman filtering observed quantity is as follows:
p KF,k+1 ＝ε k+1 (P U,k+1 -p pre,k+1 )+p pre,k+1
wherein:
p U,k+1 positioning predicted values of underwater acoustic communication positioning at the moment k+1;
δp pre·U,k+1 the distance between the underwater sound communication positioning predicted value and the measured value is obtained through a vector distance formula;
ε k+1 to delta p pre·U,k+1 The normalized position deviation parameter;
p pre,k+1 positioning the calculated predicted point for the underwater sound communication;
p KF,k+1 in order to obtain the underwater acoustic communication positioning prediction navigation points through Kalman filtering, the underwater acoustic communication positioning prediction navigation points are used as stable underwater acoustic communication positioning observation information, inertial navigation in a combined positioning system is subjected to fusion correction, and accurate positioning data are output.
The fault-tolerant judgment decision flow in the step S4 comprises the following steps:
if the measurement data judgment relation is not met, the fact that coarse errors exist in the underwater acoustic communication positioning measured value at the moment is explained, the data at the moment k-1 and the moment k and the yaw angle at the moment corresponding to strapdown inertial navigation are utilized to predict the data at the next moment of underwater acoustic communication positioning, the predicted value is used as the measurement value of the Kalman filtering model, and the fact that the coarse measurement errors of the underwater acoustic communication positioning influence the overall positioning accuracy of the combined positioning system is prevented;
when the calculated position deviation parameter does not meet the threshold value, the coarse error exists in the underwater acoustic communication positioning measured value, and the coarse error cannot be used as a measurement value of a Kalman filtering model to destroy the positioning accuracy of the combined positioning system;
meanwhile, when the position deviation coefficient of the underwater acoustic communication positioning measurement data at a certain moment does not meet the threshold condition, the angle difference parameter needs to be continuously judged and whether the measurement data judgment relation is met or not is needed, so that the situation that the underwater acoustic communication positioning result is accurate in repositioning and not detected under the condition of coarse errors is avoided, and the robustness of the decision tree model is improved.
In addition, in order to achieve the above object, the present invention further provides a fault-tolerant underwater inertial integrated navigation device, which includes:
the fault-tolerant underwater inertial integrated navigation device consists of a data acquisition unit, an integrated navigation calculation unit and an underwater acoustic communication water surface end, wherein the data acquisition unit consists of strapdown inertial navigation, a Doppler current meter, an underwater acoustic communication water bottom end and high-precision satellite positioning equipment; the integrated navigation computing unit mainly comprises a high-performance data computer and a specific algorithm;
the underwater Doppler flow velocity meter can measure the navigation speed of the underwater navigation body, the underwater bottom end of underwater acoustic communication can communicate with the water surface end in real time, the relative position information of the underwater communication end carrier is calculated according to the determined position of the water surface end, and the high-precision satellite positioning equipment adopts a high-precision Beidou positioning module and can provide the positioning precision of the underwater navigation body in centimeter level;
strapdown inertial navigation is autonomous navigation equipment which does not depend on any external information and does not radiate energy to the outside, and can provide carrier gesture, speed information and heading information in real time.
Compared with the prior art, the invention provides a fault-tolerant underwater inertial integrated navigation method, which has the following advantages:
firstly, a part of underwater sound positioning signals are given to a strapdown inertial navigation and a part of underwater sound positioning signals are given to a combined navigation computing unit, when observed quantity of underwater sound communication positioning is absent, kalman filtering is not performed, and position calculation of a moving target is performed only by using the strapdown inertial navigation, namely, the attitude and position information of an underwater navigation body are adjusted by using the strapdown inertial navigation; if the situation of losing the underwater acoustic communication positioning data does not exist, predicting the data of the next time of underwater acoustic communication positioning by utilizing the data of k-1 and k time and the yaw angle of the time corresponding to the strapdown inertial navigation, and using the data as the measurement value of the Kalman filtering model of the combined system to calibrate the strapdown inertial navigation, so that the positioning precision of the combined positioning system is improved.
Meanwhile, the scheme provides an underwater fault-tolerant combined navigation method aiming at the problems that data loss or large data positioning error is caused by background environmental noise of underwater acoustic communication during underwater navigation, when the observed quantity of underwater acoustic communication positioning is lacked, kalman filtering is not performed, and the position of a moving target is resolved only by strapdown inertial navigation; when the calculated position deviation parameter does not meet the threshold value, the coarse error exists in the underwater acoustic communication positioning measured value, and the coarse error cannot be used as a measurement value of a Kalman filtering model to destroy the positioning accuracy of the combined positioning system; if the underwater acoustic communication positioning does not meet the measurement data judgment relation, the fact that coarse errors exist in the underwater acoustic communication positioning measured value at the moment is indicated, the data at the k-1 moment and the data at the k moment and the yaw angle at the moment corresponding to the strapdown inertial navigation are utilized to predict the data at the next moment of the underwater acoustic communication positioning, the predicted value is used as the measurement value of the Kalman filtering model, and the fact that the coarse measurement errors of the underwater acoustic communication positioning influence the overall positioning accuracy of the combined positioning system is prevented; meanwhile, when the position deviation coefficient of the underwater acoustic communication positioning measurement data at a certain moment does not meet the threshold condition, the angle difference parameter needs to be continuously judged and whether the measurement data judgment relation is met or not is needed, so that the situation that the underwater acoustic communication positioning result is accurately repositioned and not detected under the coarse error is avoided, the robustness of a decision tree model is improved, stable underwater acoustic communication positioning observation information is obtained after error-tolerant judgment is carried out through the decision tree model, fusion correction is carried out on inertial navigation in a combined positioning system, a state space equation of the combined positioning system based on the position error and speed error state variables is established by combining the solution result of the inertial navigation, and then accurate positioning data output under the combined navigation of the underwater acoustic communication positioning and the inertial navigation is realized according to a Kalman filtering equation. .
Drawings
FIG. 1 is a schematic flow chart of a fault-tolerant underwater inertial integrated navigation method according to an embodiment of the present invention;
FIG. 2 is a block diagram of a fault-tolerant underwater inertial integrated navigation device according to an embodiment of the present invention;
FIG. 3 is a schematic block diagram of a fault-tolerant underwater inertial integrated navigation positioning device according to an embodiment of the present invention;
FIG. 4 is a flow chart of fault tolerant decision making according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1:
s1: and calibrating the initial position of the underwater vehicle by using the water surface high-precision positioning equipment to obtain the initial accurate position of the underwater vehicle.
In the step S1, the calibrating the initial position of the underwater vehicle by using the water surface high-precision positioning device includes:
the water surface high-precision positioning equipment comprises a water Doppler current meter, high-precision satellite positioning equipment and a water bottom end of underwater acoustic communication, wherein the water Doppler current meter can measure the navigation speed of an underwater navigation body, the water bottom end of the underwater acoustic communication can communicate with the water surface end in real time, the relative position information of a carrier of the underwater communication end is calculated according to the determined position of the water surface end, and the high-precision satellite positioning equipment adopts a high-precision Beidou positioning module and can provide the positioning precision of the underwater navigation body in centimeter level;
and determining a rough initial position area of the underwater vehicle according to the relative position information of the underwater bottom end and the water surface end of underwater acoustic communication, and positioning the rough initial position area of the underwater vehicle by using high-precision satellite positioning equipment to obtain an initial accurate position of the underwater vehicle.
S2: the underwater inertial integrated navigation device sends underwater acoustic signals to the underwater, determines underwater acoustic communication positioning positions and feeds the underwater acoustic signals back to the strapdown inertial navigation.
And S2, the underwater inertial integrated navigation device transmits underwater acoustic signals to the underwater, and determines the underwater acoustic communication positioning position, and the method comprises the following steps:
the underwater inertial integrated navigation device is combined with an underwater navigation body, underwater acoustic signals are sent to a navigation area by utilizing the underwater acoustic communication underwater end, wherein three position nodes are selected at the underwater acoustic communication underwater end to send the underwater acoustic signals, the returned underwater acoustic signal information comprises the distance between the position nodes and the current underwater navigation body, whether an obstacle exists between the current underwater navigation body and the position nodes, the underwater acoustic communication of the position nodes is positioned, and the returned underwater acoustic signals are fed back to the strapdown inertial navigation.
S3: and updating the attitude and position information of the underwater vehicle by strapdown inertial navigation according to the received underwater sound signal.
And in the step S3, updating the attitude of the underwater vehicle by strapdown inertial navigation according to the received underwater sound signal, wherein the method comprises the following steps:
strapdown inertial navigation establishes a gesture rotation matrix that rotates a navigation coordinate system to an underwater vehicle coordinate system:
wherein:
alpha represents rotating the navigation coordinate system by alpha degrees around the Z axis;
beta represents rotating the navigation coordinate system by beta degrees around the X axis;
θ represents rotating the navigation coordinate system by θ degrees around the Y-axis;
in one embodiment of the invention, the navigation coordinate system is a geographic coordinate system, and the origin of the coordinate system of the underwater vehicle is the center of the underwater vehicle;
transpose the gesture rotation matrix, then:
the real-time attitude angle of the underwater vehicle is as follows:
c＝arcsin(M 23 )
wherein:
representing a yaw angle of the underwater vehicle;
c represents the roll angle of the underwater vehicle;
and judging whether the yaw angle and the roll angle of the underwater vehicle are the same as the underwater acoustic communication positioning direction or not by strapdown inertial navigation, and if the yaw angle and the roll angle are different from the underwater acoustic communication positioning direction, adjusting the posture of the underwater vehicle so that the underwater vehicle navigates to the underwater acoustic positioning direction.
And in the step S3, updating the position information of the underwater vehicle by strapdown inertial navigation according to the received underwater sound signal, wherein the method comprises the following steps:
and (3) calculating a speed update formula of the underwater vehicle by strapdown inertial navigation:
v(t+1)＝M(t)b(t)-2w(t)*v(t)
wherein:
v (t) represents the projection of the speed of the underwater vehicle in the navigation coordinate system at time t;
m (t) represents an attitude rotation matrix of the speed of the underwater vehicle at the time t;
w (t) ×v (t) represents a centripetal acceleration;
the position update formula for the underwater vehicle is:
wherein:
s (t) represents the position of the underwater vehicle at time t.
S4: and calibrating the measurement value of the strapdown inertial navigation by using a decision fault tolerance judging mechanism to obtain stable underwater acoustic communication positioning observation information, and outputting accurate positioning data.
In the step S4, determining whether the positioning of the underwater acoustic communication is lost includes:
before the fault tolerance judgment decision is started, the underwater acoustic communication positioning data at the current moment and the front and back moments are used as the input of a decision tree model, namely the underwater acoustic communication positioning data at the k-1 moment, the current k moment and the k+1 moment; the established positioning model is a combined positioning model of strapdown inertial navigation/OFDM-MFSK (multi-frequency carrier wave and MFSK combined modulation) underwater acoustic communication;
entering into the judgment of the decision fault tolerance layer 1, judging whether the underwater acoustic communication positioning data is lost, and determining by judging whether the time interval between the front data and the rear data is larger than the sampling period, namely:
t-t U,k >t U,t
wherein:
t represents the current time;
t U,k the sampling time of the k moment of underwater acoustic communication positioning is represented;
t U,t sampling period for positioning underwater sound communication;
because of lacking observed quantity of underwater acoustic communication positioning, kalman filtering is not performed, and the position of the moving target is calculated only by using strapdown inertial navigation, namely, the attitude and position information of the underwater vehicle are adjusted by using the strapdown inertial navigation.
In the step S4, predicting a position of the underwater acoustic communication location at a next time, and determining whether the predicted position deviates includes:
if no underwater acoustic communication positioning data loss exists, predicting data of the next time of underwater acoustic communication positioning by using the data of k-1 and k time and the yaw angle of the corresponding time of strapdown inertial navigation, wherein the prediction formula is as follows:
wherein:
p pre,k+1 positioning the calculated predicted point for the underwater sound communication;
for inertial navigation, yaw angle obtained after positioning and resolving>Combining the position of the positioning system for the moment k, p U,k Positioning measurement values of the underwater acoustic communication positioning at the moment k for the underwater acoustic communication positioning;
the time sequence relation between inertial navigation and underwater acoustic communication positioning satisfies t I,i <t U,k+1 <t I,i+1 ；
And calculating a normalized coefficient of the distance between adjacent measured values of the underwater acoustic communication positioning by using a normal distribution function, and evaluating the deviation degree between a predicted value and the measured values, wherein the distance between the predicted value and the measured values and the position deviation parameter under normal distribution are calculated as follows:
δp pre，k+1 ＝||p U，k+1 -p pre，k+1 ||
wherein:
mu and sigma are respectively mean parameter and variance parameter in normal distribution function, S (x) is expressed as normal distribution probability density function;
δp pre·U,k+1 the distance between the underwater sound communication positioning predicted value and the measured value is obtained through a vector distance formula;
ε k+1 to delta p pre·U,k+1 Normalized positional deviationParameters;
setting a deviation parameter threshold value tau for judging whether the ultra-wideband measured value meets the position condition or not ε If epsilon k+1 >τ ε The current predicted position is considered to deviate.
In the step S4, judging whether the measured value of the positioning result of the underwater acoustic communication is deviated from the direction:
because the position deviation parameter is used for judging the distance parameter in the combined positioning system, the underwater acoustic communication positioning result is required to be effectively judged from the direction because the underwater acoustic communication positioning meets the distance condition in the positioning process, but the random change condition which does not accord with the motion rule appears in the motion direction;
and calculating an approximate moving target moving direction according to two adjacent underwater acoustic communication positioning measurement values, comparing the moving target moving direction with a yaw angle obtained by inertial navigation positioning calculation, and setting an azimuth angle difference judgment threshold value to judge the azimuth angle of the underwater acoustic communication positioning result. Azimuth angle calculated by underwater acoustic communication positioning measurement valueThe method comprises the following steps:
and then the angle difference parameters between the two combined positioning systems are obtained as follows:
wherein:
a yaw angle calculated for strapdown inertial navigation;
in consideration of the higher sampling rate of the underwater acoustic communication positioning, the monitored moving speed of the moving target is not suddenly changed in the front and rear sampling points and is kept in a reasonable and normal range, so that the distance and the distance difference between adjacent measuring points of the underwater acoustic communication positioning are adopted for measuring data judgment:
wherein:
d k+1,k representing the distance between measurement points at adjacent time of underwater acoustic communication positioning;
τ U,d1 and τ U,d2 Respectively positioning a threshold value of the sum and the difference of the distance values of two adjacent measuring points for underwater acoustic communication;
if the position information of the underwater acoustic communication positioning measurement point is accurate, the relationship formula of the measurement data judgment must be satisfied, and the underwater acoustic communication positioning measurement value satisfying the relationship formula is used as the observed quantity of the Kalman filtering, and the calculation formula of the Kalman filtering observed quantity is as follows:
p KF,k+1 ＝ε k+1 (P U,k+1 -p pre,k+1 )+p pre,k+1
wherein:
p U,k+1 positioning predicted values of underwater acoustic communication positioning at the moment k+1;
δp pre·U,k+1 the distance between the underwater sound communication positioning predicted value and the measured value is obtained through a vector distance formula;
ε k+1 to delta p pre·U,k+1 The normalized position deviation parameter;
p pre,k+1 positioning the calculated predicted point for the underwater sound communication;
p KF,k+1 in order to obtain the underwater acoustic communication positioning prediction navigation points through Kalman filtering, the underwater acoustic communication positioning prediction navigation points are used as stable underwater acoustic communication positioning observation information, inertial navigation in a combined positioning system is subjected to fusion correction, and accurate positioning data are output.
Example 2:
this embodiment is substantially the same as embodiment 1 except that:
s4: and calibrating the measurement value of the strapdown inertial navigation by using a decision fault tolerance judging mechanism to obtain stable underwater acoustic communication positioning observation information, and outputting accurate positioning data.
The fault-tolerant judgment decision flow in the step S4 comprises the following steps:
if the measurement data judgment relation is not met, the fact that coarse errors exist in the underwater acoustic communication positioning measured value at the moment is explained, the data at the moment k-1 and the moment k and the yaw angle at the moment corresponding to strapdown inertial navigation are utilized to predict the data at the next moment of underwater acoustic communication positioning, the predicted value is used as the measurement value of the Kalman filtering model, and the fact that the coarse measurement errors of the underwater acoustic communication positioning influence the overall positioning accuracy of the combined positioning system is prevented;
when the calculated position deviation parameter does not meet the threshold value, the coarse error exists in the underwater acoustic communication positioning measured value, and the coarse error cannot be used as a measurement value of a Kalman filtering model to destroy the positioning accuracy of the combined positioning system;
meanwhile, when the position deviation coefficient of the underwater acoustic communication positioning measurement data at a certain moment does not meet the threshold condition, the angle difference parameter needs to be continuously judged and whether the measurement data judgment relation is met or not is needed, so that the situation that the underwater acoustic communication positioning result is accurate in repositioning and not detected under the condition of coarse errors is avoided, and the robustness of the decision tree model is improved.
Referring to fig. 2, a block diagram of a fault-tolerant underwater inertial integrated navigation device according to an embodiment of the present invention is shown. The underwater inertial integrated navigation positioning device consists of a data acquisition unit, an integrated navigation calculation unit and an underwater acoustic communication water surface end. The data acquisition unit consists of strapdown inertial navigation, a Doppler flow meter, an underwater acoustic communication water bottom end and high-precision satellite positioning equipment; the integrated navigation computing unit mainly comprises a high-performance data computer and a specific algorithm.
Referring to fig. 3, a schematic block diagram of a fault-tolerant underwater inertial integrated navigation positioning device according to an embodiment of the present invention is shown.
Referring to fig. 4, a fault tolerant decision flow chart is provided according to an embodiment of the present invention.
It should be noted that, the foregoing reference numerals of the embodiments of the present invention are merely for describing the embodiments, and do not represent the advantages and disadvantages of the embodiments. And the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, apparatus, article or method that comprises the element.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (5)
1. A fault tolerant underwater inertial integrated navigation method, the method comprising:
s1: calibrating the initial position of the underwater vehicle by using water surface high-precision positioning equipment to obtain the initial accurate position of the underwater vehicle;
s2: the underwater inertial integrated navigation device sends underwater acoustic signals to the underwater, determines underwater acoustic communication positioning positions, and feeds the underwater acoustic signals back to the strapdown inertial navigation;
s3: updating the attitude and position information of the underwater vehicle by strapdown inertial navigation according to the received underwater sound signal;
s4: calibrating the measurement value of the strapdown inertial navigation by utilizing a decision fault tolerance judging mechanism to obtain stable underwater acoustic communication positioning observation information, and outputting accurate positioning data;
calibrating the measurement value of the strapdown inertial navigation by using a decision fault tolerance judging mechanism, comprising: judging whether the measured value of the positioning result of the underwater acoustic communication deviates from the direction:
azimuth angle calculated by underwater acoustic communication positioning measurement valueThe method comprises the following steps:
and then the angle difference parameters between the two combined positioning systems are obtained as follows:
wherein:
a yaw angle calculated for strapdown inertial navigation;
and adopting underwater acoustic communication to locate the distance sum and the distance difference between adjacent measuring points to judge the measured data:
wherein:
d k+1,k representing the distance between measurement points at adjacent time of underwater acoustic communication positioning;
τ U,d1 and τ U,d2 Respectively positioning a threshold value of the sum and the difference of the distance values of two adjacent measuring points for underwater acoustic communication;
if the position information of the underwater acoustic communication positioning measurement point is accurate, the relationship formula of the measurement data judgment must be satisfied, and the underwater acoustic communication positioning measurement value satisfying the relationship formula is used as the observed quantity of the Kalman filtering, and the calculation formula of the Kalman filtering observed quantity is as follows:
p KF,k+1 ＝ε k+1 (p U,k+1 -p pre,k+1 )+p pre,k+1 wherein:
p U,k+1 positioning predicted values of underwater acoustic communication positioning at the moment k+1;
ε k+1 to delta pair ppre·U,k+1 The normalized position deviation parameter;
p pre,k+1 positioning the calculated predicted point for the underwater sound communication;
p KF,k+1 for the underwater acoustic communication positioning prediction navigation points obtained through Kalman filtering, the underwater acoustic communication positioning prediction navigation points are used as stable underwater acoustic communication positioning observation information, inertial navigation in a combined positioning system is subjected to fusion correction, and accurate positioning data are output;
calibrating the measurement value of the strapdown inertial navigation by using a decision fault tolerance judging mechanism, comprising: judging whether the positioning of the underwater sound communication is lost or not,
entering into the judgment of the decision fault tolerance layer 1, judging whether the underwater acoustic communication positioning data is lost, and determining by judging whether the time interval between the front data and the rear data is larger than the sampling period, namely:
t-t U,k >t U,t
wherein:
t represents the current time;
t U,k the sampling time of the k moment of underwater acoustic communication positioning is represented;
t U,t sampling period for positioning underwater sound communication;
because of lack of observed quantity of underwater acoustic communication positioning, kalman filtering is not performed, and the position of the moving target is calculated only by using strapdown inertial navigation, namely, the attitude and position information of the underwater vehicle are adjusted by using the strapdown inertial navigation;
calibrating the measurement value of the strapdown inertial navigation by using a decision fault tolerance judging mechanism, comprising: predicting the position of the underwater acoustic communication positioning at the next moment, judging whether the predicted position deviates,
if no underwater acoustic communication positioning data loss exists, predicting data of the next time of underwater acoustic communication positioning by using the data of k-1 and k time and the yaw angle of the corresponding time of strapdown inertial navigation, wherein the prediction formula is as follows:
wherein:
p pre,k+1 positioning the calculated predicted point for the underwater sound communication;
for inertial navigation, yaw angle obtained after positioning and resolving>Combining the position of the positioning system for the moment k, p U,k Positioning measurement values of the underwater acoustic communication positioning at the moment k for the underwater acoustic communication positioning;
the time sequence relation between inertial navigation and underwater acoustic communication positioning satisfies t I,i <t U,k+1 <t I,i+1 ；
And calculating a normalized coefficient of the distance between adjacent measured values of the underwater acoustic communication positioning by using a normal distribution function, wherein the distance between the predicted value and the measured value and the position deviation parameter under normal distribution are calculated as follows:
δp pre,k+1 ＝||p U,k+1 -p pre,k+1 ||
wherein:
mu and sigma are respectively mean value parameters and standard deviation parameters in a normal distribution function, and S (x) is expressed as a normal distribution probability density function;
δp pre·U,k+1 the distance between the underwater sound communication positioning predicted value and the measured value is obtained through a vector distance formula;
ε k+1 to delta p pre·U,k+1 The normalized position deviation parameter;
setting a deviation parameter threshold value tau for judging whether the positioning measured value of the underwater acoustic communication meets the position condition or not ε If epsilon k+1 >τ ε The current predicted position is considered to deviate;
the process for calibrating the measurement value of the strapdown inertial navigation by utilizing the decision fault tolerance judging mechanism comprises the following steps:
if the measurement data judgment relation is not met, the fact that coarse errors exist in the underwater acoustic communication positioning measured value at the moment is explained, the data at the moment k-1 and the moment k and the yaw angle at the moment corresponding to strapdown inertial navigation are utilized to predict the data at the next moment of underwater acoustic communication positioning, the predicted value is used as the measurement value of the Kalman filtering model, and the fact that the coarse measurement errors of the underwater acoustic communication positioning influence the overall positioning accuracy of the combined positioning system is prevented;
when the calculated position deviation parameter does not meet the threshold value, the coarse error exists in the underwater acoustic communication positioning measured value, and the coarse error cannot be used as a measurement value of a Kalman filtering model to destroy the positioning accuracy of the combined positioning system;
meanwhile, when the position deviation parameter of the underwater acoustic communication positioning measurement data at a certain moment does not meet the threshold condition, the angle difference parameter needs to be continuously judged and whether the measurement data judgment relation is met or not is needed, so that the situation that the underwater acoustic communication positioning result is accurate in repositioning and not detected under the condition of coarse errors is avoided.
2. The fault-tolerant underwater inertial integrated navigation method of claim 1, wherein the calibrating the initial position of the underwater vehicle by using the water surface high-precision positioning device in step S1 comprises:
the water surface high-precision positioning equipment comprises a Doppler current meter, high-precision satellite positioning equipment and a water bottom end of underwater acoustic communication, wherein the water Doppler current meter can measure the navigation speed of an underwater navigation body, the water bottom end of the underwater acoustic communication can communicate with the water surface end in real time, the relative position information of a carrier of the underwater communication end is calculated according to the determined position of the water surface end, and the high-precision satellite positioning equipment adopts a high-precision Beidou positioning module and can provide the positioning precision of the underwater navigation body in centimeter level;
and determining a rough initial position area of the underwater vehicle according to the relative position information of the underwater bottom end and the water surface end of underwater acoustic communication, and positioning the rough initial position area of the underwater vehicle by using high-precision satellite positioning equipment to obtain an initial accurate position of the underwater vehicle.
3. The fault-tolerant underwater integrated inertial navigation method of claim 2, wherein in the step S2, the underwater integrated inertial navigation device is combined with an underwater vehicle, the underwater integrated inertial navigation device sends underwater acoustic signals to the underwater, and the underwater acoustic communication positioning position is determined, comprising:
the underwater inertial integrated navigation device is combined with an underwater navigation body, underwater acoustic signals are sent to a navigation area by utilizing the underwater acoustic communication underwater end, wherein three position nodes are selected at the underwater acoustic communication underwater end to send the underwater acoustic signals, the returned underwater acoustic signal information comprises the distance between the position nodes and the current underwater navigation body, whether an obstacle exists between the current underwater navigation body and the position nodes, the underwater acoustic communication of the position nodes is positioned, and the returned underwater acoustic signals are fed back to the strapdown inertial navigation.
4. The fault-tolerant underwater inertial integrated navigation method of claim 3, wherein the step S3 of updating the attitude of the underwater vehicle by strapdown inertial navigation according to the received underwater acoustic signal comprises:
strapdown inertial navigation establishes a gesture rotation matrix that rotates a navigation coordinate system to an underwater vehicle coordinate system:
wherein:
alpha represents rotating the navigation coordinate system by alpha degrees around the Z axis;
beta represents rotating the navigation coordinate system by beta degrees around the X axis;
θ represents rotating the navigation coordinate system by θ degrees around the Y-axis;
the navigation coordinate system is a geographic coordinate system, and the origin of the coordinate system of the underwater vehicle is the center of the underwater vehicle;
transpose the gesture rotation matrix, then:
the real-time attitude angle of the underwater vehicle is as follows:
c＝arcsin(M 23 )
wherein:
representing a yaw angle of the underwater vehicle;
c represents the roll angle of the underwater vehicle;
and judging whether the yaw angle and the roll angle of the underwater vehicle are the same as the underwater acoustic communication positioning direction or not by strapdown inertial navigation, and if the yaw angle and the roll angle are different from the underwater acoustic communication positioning direction, adjusting the posture of the underwater vehicle so that the underwater vehicle navigates to the underwater acoustic positioning direction.
5. The fault-tolerant underwater inertial integrated navigation method of claim 3, wherein the step S3 of updating the position information of the underwater vehicle by the strapdown inertial navigation according to the received underwater sound signal comprises:
and (3) calculating a speed update formula of the underwater vehicle by strapdown inertial navigation:
v(t+1)＝M(t)b(t)-2w(t)*v(t)
wherein:
v (t) represents the projection of the speed of the underwater vehicle in the navigation coordinate system at time t;
m (t) represents an attitude rotation matrix of the speed of the underwater vehicle at the time t;
w (t) ×v (t) represents a centripetal acceleration;
the position update formula for the underwater vehicle is:
wherein:
s (t) represents the position of the underwater vehicle at time t.
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