CN114964235A - Combined navigation method based on inertia/Doppler log and damping state - Google Patents

Combined navigation method based on inertia/Doppler log and damping state Download PDF

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CN114964235A
CN114964235A CN202210545260.1A CN202210545260A CN114964235A CN 114964235 A CN114964235 A CN 114964235A CN 202210545260 A CN202210545260 A CN 202210545260A CN 114964235 A CN114964235 A CN 114964235A
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speed
navigation
damping
error
state
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王天宇
赵博
张润峰
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Harbin Institute Of Technology (anshan) Industrial Technology Research Institute
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Harbin Institute Of Technology (anshan) Industrial Technology Research Institute
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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
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Specially adapted for sailing ships
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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Abstract

The invention provides an integrated navigation method based on an inertia/Doppler log damping state, which comprises the following steps: acquiring a data source required by algorithm debugging as a training sample; carrying out characteristic analysis of speed, acceleration, angular velocity and angular acceleration on the training sample in each navigation state to obtain navigation state criterion of the system; accurately modeling the combined navigation filtering of the Doppler log through a training sample; optimally designing damping navigation network parameters through training samples; and obtaining the motion state of the carrier according to the carrier navigation state criterion, switching the output speed information, finally obtaining the optimized speed of the comprehensive system, and respectively carrying out frequency spectrum analysis on the speed output of the combined navigation and the damping navigation to realize the suppression of the low-frequency speed error. The method has good practical engineering application value and aims to solve the problems that the conventional combined navigation is slow in speed convergence and large in speed error, and further the positioning error is large.

Description

Combined navigation method based on inertia/Doppler log damping state
Technical Field
The invention relates to the technical field of navigation and positioning, in particular to a combined navigation method based on an inertia/Doppler log and a damping state.
Background
Since the 21 st century, as human investment in utilizing and developing the ocean has increased, Autonomous Underwater Vehicles (AUVs) have attracted more and more attention, and have been rapidly developed in military fields such as battlefield surveillance and hidden combat, and civil fields such as seawater detection and marine geological exploration. Navigation means that a person or an object completes the autonomous movement process from an initial position to a target position by knowing the body state. At present, the realization of high-precision autonomous navigation is still a technology which needs to be continuously perfected.
Inertial navigation is a navigation method developed according to the principle of newtonian inertia. The angular velocity and the acceleration of the carrier are measured by using inertial elements (a gyroscope and an accelerometer), and the attitude, the velocity and the position are obtained through operations such as digital filtering, integration and the like, so that the purpose of navigation and positioning of the carrier is achieved. Because the equipment forming the inertial navigation system is arranged in the carrier, the inertial navigation system does not depend on external information during working, does not radiate energy to the outside, is not easy to be interfered, and is an excellent autonomous navigation system at present.
However, since the pure inertial navigation system error is oscillatory and accumulated with time, especially for the carrier with long working time and small acceleration, it is necessary to introduce external information to suppress the system error. In underwater environments, doppler log is typically used to provide external velocity, and an inertial navigation system is combined with an inertial navigation system to form an inertial/doppler log integrated navigation system. And the information output of the combined system is more reliable through some specific information fusion modes.
Disclosure of Invention
In order to solve the technical problems provided by the background art, the invention provides an integrated navigation method based on an inertia/Doppler log damping state, which has good practical engineering application value and aims to solve the problems of low speed convergence and large speed error of the traditional integrated navigation method and further large positioning error.
In order to achieve the purpose, the invention adopts the following technical scheme:
an integrated navigation method based on an inertia/Doppler log plus damping state comprises the following steps:
acquiring a data source required by algorithm debugging as a training sample;
secondly, performing characteristic analysis of speed, acceleration, angular velocity and angular acceleration of the training sample in each navigation state to obtain navigation state criterion of the system;
step three, carrying out fault detection on the speed output of the Doppler log, and judging whether the speed output of the current Doppler log is available or not;
step four, accurately modeling the combined navigation filtering of the Doppler log through training samples;
fifthly, optimally designing damping navigation network parameters through training samples;
step six, obtaining the motion state of the carrier according to the carrier navigation state criterion, switching the speed information output in the step four and the step five, and finally obtaining the optimized speed of the integrated system, thereby improving the carrier speed measurement adaptability of the whole integrated navigation system;
and step seven, respectively carrying out frequency spectrum analysis on the speed output of the combined navigation and the damping navigation, and designing a high-pass digital filter to realize the suppression of low-frequency speed errors.
Further, in the step one: the acquired data source requires the navigation carrier to have the following range:
the method has a uniform linear voyage;
a range with variable speed motion;
the navigation range with large maneuvering is provided;
the device has the voyage of diving and floating;
and counting the change characteristics of the acceleration, the angular velocity and the angular acceleration under each voyage.
Further, in the third step: the data of the Doppler log is subjected to statistical characteristic analysis, the measurement precision of the Doppler log is evaluated, and a fault detection method is specified according to the evaluation precision; the detection method uses the Xinchi square for detection; it is based on the measurement of innovation δ r k The method for detecting and isolating the fault of the filter has good detection effect on the abnormity of large data; the measurement information reflects state estimation and quantityConsistency between the measured values, which ideally obeys a normal distribution with a mean value of 0;
Figure BDA0003652140140000021
δr k ～N(0,C k )
Figure BDA0003652140140000022
Figure BDA0003652140140000023
wherein H k Is an observation matrix of the system, Z k In order to be a matrix of the observed quantities,
Figure BDA0003652140140000024
for the state estimation matrix from time k to time k-1, N (0, C) k ) Representing a mean of 0 and a variance of C k Normal distribution of (1), P k,k-1 Is a transition matrix from time k to time k-1, R k For measuring the variance matrix of the noise, T k Obeying chi-square distribution as the variable to be detected.
Further, in the fourth step: the speed integrated navigation algorithm takes an inertial system error equation as a state equation of an integrated navigation system, takes the difference between an inertial measurement speed and a log measurement speed as an observed quantity of the system and establishes an observation equation, and adopts an optimal estimation theory to estimate and compensate the state of the system in real time, so that the influence of inertial device errors on navigation precision is inhibited;
selecting system longitude and latitude error
Figure BDA0003652140140000031
The two variables are respectively longitude error and latitude error, and horizontal velocity error (delta v) under a navigation system, namely n system e ,δv n )，(δv e ,δv n ) The two variables are eastThe error of the velocity in the direction of the vehicle and the error of the velocity in the direction of the north, i.e. the error of the attitude under the navigation system, i.e. n e ,φ n ,φ u )，(φ e ,φ n ,φ u ) The three variables are respectively roll error, pitch error and course deviation, and the horizontal accelerometer in the carrier coordinate system has zero deviation
Figure BDA0003652140140000032
And the gyro zero offset epsilon in the carrier coordinate system is equal to epsilon x ε y ε z ]As the state quantity, the state quantity is:
Figure BDA0003652140140000033
the state equations of the integrated navigation system are then:
Figure BDA0003652140140000034
where, denotes the differential to the variable, R m Representing the radius of the latitude circle of the earth, R n Representing the radius of the earth's longitude circle, f n Representing the projection of the accelerometer under the navigation system,
Figure BDA0003652140140000035
showing that the rotation angular velocity of the navigation system relative to the earth system is projected under the navigation system,
Figure BDA0003652140140000036
showing the projection of the rotation angular velocity of the earth system relative to the inertial system under the navigation system,
Figure BDA0003652140140000037
v representing projection of the angular velocity of the navigation system relative to the angular velocity of the inertia system under the navigation system n Represents the projection of the navigation solution velocity under the navigation system, phi n ＝[φ e φ n φ u ]Representing the projection of the attitude angle error under the navigation system;
the difference between the inertial measurement speed and the Doppler log measurement speed is used as an observed quantity, and the method comprises the following steps:
Figure BDA0003652140140000041
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003652140140000042
and
Figure BDA0003652140140000043
respectively represents the projection of the resolving speed information of the inertial navigation system in the east direction and the north direction,
Figure BDA0003652140140000044
and
Figure BDA0003652140140000045
respectively representing the east projection and the north projection of the output speed information of the Doppler log;
and establishing an integrated navigation system equation according to the state equation and the observed quantity of the integrated navigation system, and estimating and compensating the state error in real time by using the optimal estimation.
Further, in the fifth step: optimally designing parameters H(s) of the damping navigation network according to a classical control theory; the input of the damping network is the difference between the speed of a system solution and the output speed of the Doppler log, and the output is the speed corrected by the damping network;
the design method of the general second-order damping network is that the damping network is fixed as follows:
Figure BDA0003652140140000046
wherein, ω is 1 、ω 2 、ω 3 、ω 4 Is a damping network parameter;
on the basis, firstly, parameter preliminary design is carried out through the gain characteristic and the phase characteristic required by design, and then specific parameters of a damping network are further designed according to the peak value of closed-loop gain of a second-order system corresponding to the damping coefficient required by design; if the form of the damping network is transformed into:
Figure BDA0003652140140000047
wherein, ω is 1 、ω 2 A, B is the damping network parameter after form transformation;
a damping network is designed by adopting a classical control theory method of a closed-loop leading pole, so that the performance and the action of the original damping network can be analyzed by utilizing an equivalent damping network; the damping network design method not only simplifies the design process of the damping network parameters, but also is more beneficial to the analysis and research work of the network performance.
Further, in the sixth step: according to the change characteristics of the motion parameters of the ship in each motion state and the error change characteristics of the speed measurement error of the Doppler log under each maneuvering condition, whether the speed measurement error of the Doppler log changes violently or not can be judged through the motion parameters; in order to enable the inertial/Doppler log integrated navigation system to obtain higher precision, the system needs to work in an integrated navigation mode when the speed measurement error of the Doppler log changes violently, and the integrated navigation system works in a damping mode when the speed measurement error changes small; the speed measurement error of the Doppler log changes dramatically under the following conditions: a) turning movement; b) linear acceleration and deceleration movement; c) severe sea wind and current changes or log faults; therefore, under the three conditions, the inertial/Doppler log damping integrated navigation system based on the parallel algorithm is switched to an integrated navigation working mode, and the rest states work in the damping working mode; therefore, the combined navigation state switching prejudgment can be completed by combining the change rule of each motion parameter in each motion state.
Further, in the seventh step: the carrier velocity is mainly characterized by the synthesis of a swing period function and an impact motion function, a frequency band comprises a swing period and a higher frequency range, and the frequency band range of a main error source in the carrier velocity comprises the low-frequency characteristics of a Schuler period, a terrestrial period, a Foucault period and the like; through analyzing a large amount of real ship test data, determining the swinging condition of the carrier under various sea conditions and the speed error propagation mechanism of the inertial measurement and the log measurement, and performing frequency spectrum analysis on the speed error propagation mechanism; on the basis, the high-pass filter setting research is carried out, and the low-frequency error signals are filtered by setting the reasonable high-pass filter, so that the speed measurement precision of the ship in the motion state is improved.
Compared with the prior art, the invention has the beneficial effects that:
the combined navigation method based on the damping state of the inertia/Doppler log has good practical engineering application value and aims to solve the problems that the conventional combined navigation method is low in speed convergence and large in speed error, and further causes large positioning error.
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FIG. 1 is a flow chart of a method for integrated navigation of an inertial/Doppler log according to an embodiment of the present invention;
FIG. 2 is a schematic view of a combined navigation method of an inertial/Doppler log according to an embodiment of the present invention.
Detailed Description
The following detailed description of the present invention is provided in connection with the accompanying drawings.
As shown in fig. 1-2, a combined navigation method based on inertia/doppler log plus damping status includes the following steps:
acquiring a data source required by algorithm debugging as a training sample;
secondly, performing characteristic analysis of speed, acceleration, angular velocity and angular acceleration of the training sample in each navigation state to obtain navigation state criterion of the system;
step three, carrying out fault detection on the speed output of the Doppler log, and judging whether the speed output of the current Doppler log is available or not;
step four, accurately modeling the combined navigation filtering of the Doppler log through training samples;
fifthly, optimally designing damping navigation network parameters through training samples;
step six, obtaining the motion state of the carrier according to the carrier navigation state criterion, switching the speed information output in the step four and the step five, and finally obtaining the optimized speed of the integrated system, thereby improving the carrier speed measurement adaptability of the whole integrated navigation system;
and step seven, respectively carrying out frequency spectrum analysis on the speed output of the combined navigation and the damping navigation, and designing a high-pass digital filter to realize the suppression of low-frequency speed errors.
The specific embodiment is as follows:
step one, acquiring a data source required by algorithm debugging as a training sample.
The acquired data source requires the navigation carrier to have the following range:
the method has a uniform linear voyage;
a range with variable speed motion;
the navigation range with large maneuvering is provided;
the device has the voyage of diving and floating;
and counting the change characteristics of the acceleration, the angular velocity and the angular acceleration under each voyage.
And step two, performing characteristic analysis of speed, acceleration, angular velocity and angular acceleration of the training sample in each navigation state to obtain a navigation state criterion of the system.
And step three, carrying out fault detection on the speed output of the Doppler log, and judging whether the speed output of the current Doppler log is available.
In the third step, the measurement precision of the Doppler log is evaluated by analyzing the statistical characteristics of the data of the Doppler log, and a fault detection method is specified according to the evaluation precision; the detection method uses the Xinchi square for detection; it is based on the measurement of innovation δ r k The method for detecting and isolating the fault of the filter has good detection effect on the abnormity of large data; the measurement information reflects the consistency between the state estimate and the measured value, which ideally follows a normal distribution with a mean value of 0；
Figure BDA0003652140140000061
δr k ～N(0,C k )
Figure BDA0003652140140000062
Figure BDA0003652140140000063
Wherein H k Is an observation matrix of the system, Z k In order to be a matrix of the observed quantities,
Figure BDA0003652140140000064
for the state estimation matrix from time k to time k-1, N (0, C) k ) Representing a mean of 0 and a variance of C k Normal distribution of (A), P k,k-1 Is a transition matrix from time k to time k-1, R k To measure the variance matrix of the noise, T k Obeying chi-square distribution as the variable to be detected.
And step four, accurately modeling the combined navigation filtering of the Doppler log through the training samples.
The fourth step is as follows: the speed integrated navigation algorithm takes an inertial system error equation as a state equation of an integrated navigation system, takes the difference between an inertial measurement speed and a log measurement speed as an observed quantity of the system and establishes an observation equation, and adopts an optimal estimation theory to estimate and compensate the state of the system in real time, so that the influence of inertial device errors on navigation precision is inhibited;
selecting system longitude and latitude error
Figure BDA0003652140140000071
The two variables are longitude error and latitude error, respectively, and horizontal velocity error (delta v) under the navigation system, i.e. n system e ,δv n )，(δv e ,δv n ) The two variables are east-direction speed error and north-direction speed error, respectively, and the navigation system is n-system lower attitude error (phi) e ,φ n ,φ u )，(φ e ,φ n ,φ u ) The three variables are respectively roll error, pitch error and course deviation, and the horizontal accelerometer in the carrier coordinate system has zero deviation
Figure BDA0003652140140000072
And the gyro zero bias epsilon [ epsilon ] under the carrier coordinate system x ε y ε z ]As the state quantity, the state quantity is:
Figure BDA0003652140140000073
the state equations of the integrated navigation system are then:
Figure BDA0003652140140000074
where, denotes the differential to the variable, R m Representing the radius of the latitude circle of the earth, R n Representing the radius of the earth's longitude circle, f n Representing the projection of the accelerometer under the navigation system,
Figure BDA0003652140140000075
showing that the rotation angular velocity of the navigation system relative to the earth system is projected under the navigation system,
Figure BDA0003652140140000076
showing the projection of the rotation angular velocity of the earth system relative to the inertial system under the navigation system,
Figure BDA0003652140140000077
v representing projection of the angular velocity of the navigation system relative to the angular velocity of the inertia system under the navigation system n Represents the projection of the navigation solution velocity under the navigation system, phi n ＝[φ e φ n φ u ]Representing the projection of the attitude angle error under the navigation system;
the difference between the inertial measurement speed and the Doppler log measurement speed is used as an observed quantity, and the method comprises the following steps:
Figure BDA0003652140140000081
wherein the content of the first and second substances,
Figure BDA0003652140140000082
and
Figure BDA0003652140140000083
respectively represents the east and north projection of the inertial navigation system resolving speed information,
Figure BDA0003652140140000084
and
Figure BDA0003652140140000085
respectively representing the east projection and the north projection of the output speed information of the Doppler log;
and establishing an integrated navigation system equation according to the state equation and the observed quantity of the integrated navigation system, and estimating and compensating the state error in real time by using the optimal estimation.
And fifthly, optimally designing the parameters of the damping navigation network through the training sample.
In the fifth step: optimally designing parameters H(s) of the damping navigation network according to a classical control theory; the input of the damping network is the difference between the speed of a system solution and the output speed of the Doppler log, and the output is the speed corrected by the damping network;
the design method of the general second-order damping network is that the damping network is fixed as follows:
Figure BDA0003652140140000086
wherein, ω is 1 、ω 2 、ω 3 、ω 4 Is a damping network parameter;
on the basis, firstly, parameter preliminary design is carried out through the gain characteristic and the phase characteristic required by design, and then specific parameters of a damping network are further designed according to the peak value of closed-loop gain of a second-order system corresponding to the damping coefficient required by design; if the form of the damping network is transformed into:
Figure BDA0003652140140000087
wherein, ω is 1 、ω 2 A, B is the damping network parameter after form transformation;
a damping network is designed by adopting a classical control theory method of a closed-loop leading pole, so that the performance and the action of the original damping network can be analyzed by utilizing an equivalent damping network; the damping network design method not only simplifies the design process of the damping network parameters, but also is more beneficial to the analysis and research work of the network performance.
And step six, obtaining the motion state of the carrier according to the carrier navigation state criterion, switching the speed information output in the step four and the step five, and finally obtaining the optimized speed of the integrated system, thereby improving the carrier speed measurement adaptability of the whole integrated navigation system.
In the sixth step: according to the change characteristics of the motion parameters of the ship in each motion state and the error change characteristics of the speed measurement error of the Doppler log under each maneuvering condition, whether the speed measurement error of the Doppler log changes violently or not can be judged through the motion parameters; in order to enable the inertial/Doppler log integrated navigation system to obtain higher precision, the system needs to work in an integrated navigation mode when the speed measurement error of the Doppler log changes violently, and the integrated navigation system works in a damping mode when the speed measurement error changes small; the speed measurement error of the Doppler log changes dramatically under the following conditions: a) turning movement; b) linear acceleration and deceleration movement; c) severe sea wind and sea current changes or log faults; therefore, under the three conditions, the inertial/Doppler log damping integrated navigation system based on the parallel algorithm is switched to an integrated navigation working mode, and the rest states work in the damping working mode; therefore, the combined navigation state switching prejudgment can be completed by combining the change rule of each motion parameter in each motion state.
And step seven, respectively carrying out frequency spectrum analysis on the speed output of the combined navigation and the damping navigation, and designing a high-pass digital filter to realize the suppression of low-frequency speed errors.
In the seventh step: the carrier velocity is mainly characterized by the synthesis of a swing period function and an impact motion function, a frequency band comprises a swing period and a higher frequency range, and the frequency band range of a main error source in the carrier velocity comprises the low-frequency characteristics of a Schuler period, a terrestrial period, a Foucault period and the like; through analyzing a large amount of real ship test data, determining the swinging condition of the carrier under various sea conditions and the speed error propagation mechanism of the inertial measurement and the log measurement, and performing frequency spectrum analysis on the speed error propagation mechanism; on the basis, the high-pass filter setting research is carried out, and the low-frequency error signals are filtered by setting the reasonable high-pass filter, so that the speed measurement precision of the ship in the motion state is improved.
The combined navigation method based on the damping state of the inertia/Doppler log has good practical engineering application value and aims to solve the problems that the conventional combined navigation method is low in speed convergence and large in speed error, and further causes large positioning error.
The above embodiments are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of the present invention is not limited to the above embodiments. The methods used in the above examples are conventional methods unless otherwise specified.

Claims (7)

1. An integrated navigation method based on an inertia/Doppler log plus damping state is characterized by comprising the following steps:
acquiring a data source required by algorithm debugging as a training sample;
secondly, performing characteristic analysis of speed, acceleration, angular velocity and angular acceleration of the training sample in each navigation state to obtain navigation state criterion of the system;
step three, carrying out fault detection on the speed output of the Doppler log, and judging whether the speed output of the current Doppler log is available or not;
step four, accurately modeling the combined navigation filtering of the Doppler log through training samples;
fifthly, optimally designing damping navigation network parameters through training samples;
step six, obtaining the motion state of the carrier according to the carrier navigation state criterion, switching the speed information output in the step four and the step five, and finally obtaining the optimized speed of the integrated system, thereby improving the carrier speed measurement adaptability of the whole integrated navigation system;
and step seven, respectively carrying out frequency spectrum analysis on the speed output of the combined navigation and the damping navigation, and designing a high-pass digital filter to realize the suppression of low-frequency speed errors.
2. The integrated navigation method based on the inertia/Doppler log plus damping status of claim 1, wherein the first step comprises: the acquired data source requires the navigation carrier to have the following range:
the method has a uniform linear voyage;
a range with variable speed motion;
the navigation range with large maneuvering is provided;
the device has a voyage of diving and floating;
and counting the change characteristics of the acceleration, the angular velocity and the angular acceleration under each voyage.
3. The integrated navigation method based on inertia/doppler log plus damping status of claim 1, wherein the three steps are as follows: the data of the Doppler log is subjected to statistical characteristic analysis, the measurement precision of the Doppler log is evaluated, and a fault detection method is specified according to the evaluation precision; the detection method uses the Xinchi square for detection; it is based on the measurement of innovation δ r k To filter faultThe method for detecting and isolating has good detection effect on the abnormity of large data; the measurement innovation reflects the consistency between the state estimation value and the measurement value, and in an ideal state, the measurement innovation follows normal distribution with the mean value of 0;
Figure FDA0003652140130000021
δr k ～N(0,C k )
Figure FDA0003652140130000022
Figure FDA0003652140130000023
wherein H k Is an observation matrix of the system, Z k In order to be a matrix of the observed quantities,
Figure FDA0003652140130000024
for the state estimation matrix from time k to time k-1, N (0, C) k ) Representing a mean of 0 and a variance of C k Normal distribution of (1), P k,k-1 Is a transition matrix from time k to time k-1, R k For measuring the variance matrix of the noise, T k Obeying chi-square distribution as the variable to be detected.
4. The integrated navigation method based on the inertia/Doppler log plus damping status of claim 1, wherein the fourth step is: the speed integrated navigation algorithm takes an inertial system error equation as a state equation of an integrated navigation system, takes the difference between an inertial measurement speed and a log measurement speed as an observed quantity of the system and establishes an observation equation, and adopts an optimal estimation theory to estimate and compensate the state of the system in real time, so that the influence of inertial device errors on navigation precision is inhibited;
selecting system longitude and latitude error
Figure FDA0003652140130000025
The two variables are longitude error and latitude error, respectively, and horizontal velocity error (delta v) under the navigation system, i.e. n system e ,δv n )，(δv e ,δv n ) The two variables are east-direction speed error and north-direction speed error, respectively, and the navigation system is n-system lower attitude error (phi) e ,φ n ,φ u )，(φ e ,φ n ,φ u ) The three variables are respectively roll error, pitch error and course deviation, and the horizontal accelerometer in the carrier coordinate system has zero deviation
Figure FDA0003652140130000026
And the gyro zero bias epsilon [ epsilon ] under the carrier coordinate system x ε y ε z ]As the state quantity, the state quantity is:
Figure FDA0003652140130000027
the state equations of the integrated navigation system are then:
Figure FDA0003652140130000031
where, denotes the differential to the variable, R m Representing the radius of the latitude circle of the earth, R n Representing the radius of the earth's longitude circle, f n Representing the projection of the accelerometer under the navigation system,
Figure FDA0003652140130000032
showing that the rotation angular velocity of the navigation system relative to the earth system is projected under the navigation system,
Figure FDA0003652140130000033
showing the throw of the rotation angular velocity of the earth system relative to the inertial system under the navigation systemThe shadow is shown in the figure,
Figure FDA0003652140130000034
v representing projection of the angular velocity of the navigation system relative to the angular velocity of the inertia system under the navigation system n Represents the projection of the navigation solution velocity under the navigation system, phi n ＝[φ e φ n φ u ]Representing the projection of the attitude angle error under the navigation system;
the difference between the inertial measurement speed and the Doppler log measurement speed is used as an observed quantity, and the method comprises the following steps:
Figure FDA0003652140130000035
wherein the content of the first and second substances,
Figure FDA0003652140130000036
and
Figure FDA0003652140130000037
respectively represents the east and north projection of the inertial navigation system resolving speed information,
Figure FDA0003652140130000038
and
Figure FDA0003652140130000039
respectively representing the east projection and the north projection of the output speed information of the Doppler log;
and establishing an integrated navigation system equation according to the state equation and the observed quantity of the integrated navigation system, and estimating and compensating the state error in real time by using the optimal estimation.
5. The integrated navigation method based on the inertia/doppler log plus damping status of claim 1, wherein the step five is: optimally designing parameters H(s) of the damping navigation network according to a classical control theory; the input of the damping network is the difference between the speed of a system solution and the output speed of the Doppler log, and the output is the speed corrected by the damping network;
the design method of the general second-order damping network is that the damping network is fixed as follows:
Figure FDA00036521401300000310
wherein, ω is 1 、ω 2 、ω 3 、ω 4 Is a damping network parameter;
on the basis, firstly, parameter preliminary design is carried out through the gain characteristic and the phase characteristic required by design, and then specific parameters of a damping network are further designed according to the peak value of closed-loop gain of a second-order system corresponding to the damping coefficient required by design; if the form of the damping network is transformed into:
Figure FDA0003652140130000041
wherein, ω is 1 、ω 2 A, B is the damping network parameter after form transformation;
a damping network is designed by adopting a classical control theory method of a closed-loop leading pole, so that the performance and the action of the original damping network can be analyzed by utilizing an equivalent damping network; the damping network design method not only simplifies the design process of the damping network parameters, but also is more beneficial to the analysis and research work of the network performance.
6. The integrated navigation method based on the inertia/Doppler log plus damping state of claim 1, wherein in the sixth step: according to the change characteristics of the motion parameters of the ship in each motion state and the error change characteristics of the speed measurement error of the Doppler log under each maneuvering condition, whether the speed measurement error of the Doppler log changes violently or not can be judged through the motion parameters; in order to enable the inertial/Doppler log integrated navigation system to obtain higher precision, the system needs to work in an integrated navigation mode when the speed measurement error of the Doppler log changes violently, and the integrated navigation system works in a damping mode when the speed measurement error changes small; the speed measurement error of the Doppler log changes dramatically under the following conditions: a) turning movement; b) linear acceleration and deceleration movement; c) severe sea wind and sea current changes or log faults; therefore, under the three conditions, the inertial/Doppler log damping integrated navigation system based on the parallel algorithm is switched to an integrated navigation working mode, and the rest states work in the damping working mode; therefore, the combined navigation state switching prejudgment can be completed by combining the change rule of each motion parameter in each motion state.
7. The integrated navigation method based on the inertia/doppler log plus damping status of claim 1, wherein the seventh step is: the carrier velocity is mainly characterized by the synthesis of a swing period function and an impact motion function, a frequency band comprises a swing period and a higher frequency range, and the frequency band range of a main error source in the carrier velocity comprises the low-frequency characteristics of a Schuler period, a terrestrial period, a Foucault period and the like; through analyzing a large amount of real ship test data, determining the swinging condition of the carrier under various sea conditions and the speed error propagation mechanism of the inertial measurement and the log measurement, and performing frequency spectrum analysis on the speed error propagation mechanism; on the basis, the high-pass filter setting research is carried out, and the low-frequency error signals are filtered by setting the reasonable high-pass filter, so that the speed measurement precision of the ship in the motion state is improved.
CN202210545260.1A 2022-05-19 2022-05-19 Combined navigation method based on inertia/Doppler log and damping state Pending CN114964235A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115235513A (en) * 2022-09-15 2022-10-25 中国船舶重工集团公司第七0七研究所 Inertial navigation correction method based on satellite navigation pseudo range and pseudo range rate

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115235513A (en) * 2022-09-15 2022-10-25 中国船舶重工集团公司第七0七研究所 Inertial navigation correction method based on satellite navigation pseudo range and pseudo range rate
CN115235513B (en) * 2022-09-15 2023-01-17 中国船舶重工集团公司第七0七研究所 Inertial navigation correction method based on pseudo range and pseudo range rate

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