CN115060274A - Underwater integrated autonomous navigation device and initial alignment method thereof - Google Patents
Underwater integrated autonomous navigation device and initial alignment method thereof Download PDFInfo
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- CN115060274A CN115060274A CN202210984493.1A CN202210984493A CN115060274A CN 115060274 A CN115060274 A CN 115060274A CN 202210984493 A CN202210984493 A CN 202210984493A CN 115060274 A CN115060274 A CN 115060274A
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention relates to the technical field of underwater navigation and positioning, and discloses an underwater integrated autonomous navigation device which comprises a navigation calculation module, a signal conversion module, a data storage module, a micro-electromechanical inertial measurement unit, a Doppler log and a voltage conversion module. The invention also discloses an initial alignment method of the navigation device, which is used for realizing the initial alignment of the navigation device.
Description
Technical Field
The invention relates to the technical field of underwater navigation and positioning, in particular to an underwater integrated autonomous navigation device and an initial alignment method thereof.
Background
Due to the particularity and complexity of an underwater environment, insufficient underwater light and rapid radio signal attenuation, the underwater target cannot be navigated and positioned by common vision and GNSS satellite navigation (including GPS, Beidou and the like).
When the frogman works in underwater rescue, salvage, desilting, photography, overhaul and the like, the frogman generally assists the frogman to navigate to a specified place for operation through a frogman carrier, so that an underwater navigation positioning device similar to a GPS is needed, and the underwater navigation positioning device is small in size, low in power consumption, high in practicability and the like. Therefore, the situation that the GPS signals need to frequently float to the water surface to be received is avoided as much as possible, and the underwater working efficiency is improved.
The conventional underwater navigation method comprises the following steps:
(1) in the underwater acoustic positioning, one or more sonar base stations are arranged in a task area in advance, and the relative position and direction are determined by utilizing a target receiving base station sonar signal similar to the GNSS principle.
(2) And geophysical navigation, wherein pre-stored underwater terrain, magnetic field or gravity field background images are matched with the current measurement value, so that the position coordinate of the current moment is determined.
However, both the underwater acoustic positioning and the geophysical navigation methods require a priori conditions, such as the underwater acoustic positioning system requiring the placement of transponders on the surface or on the seafloor, and the geophysical navigation requiring a priori maps. In addition, when the navigation is performed by using the prior background image, corresponding sensors are required to measure parameters such as a magnetic field, gravity, terrain, water depth and the like in real time, and the sensors are large in size and expensive, so that the use of the underwater frogman is extremely inconvenient.
The more occasions that frogmans carry out tasks are strange fields, transponders or other acoustic base stations cannot be arranged in advance, and no map exists. Therefore, there is a need for a fully autonomous navigation and positioning device, which does not rely on external information and can perform real-time navigation and positioning.
The Inertial Navigation System (INS) can independently and autonomously provide all navigation information including postures, speeds, positions and the like by depending on internal inertial devices (gyroscopic angular motion and accelerometer linear motion), and has the advantages of high reliability, no need of any sound, light and electricity connection with the outside, no external interference basically, high precision in short time and the like. However, the errors of the INS accumulate over time and the errors diverge quickly. However, a Doppler Velocity Log (Doppler Velocity Log) can measure the Velocity of the motion, and the error does not diverge, so that the INS and the DVL can be combined for navigation, and the defect of fast divergence of the error can be overcome.
The INS in the current INS and DVL integrated navigation device generally adopts a high-precision fiber-optic gyroscope or even a laser gyroscope which can complete initial self-alignment, and the method is acceptable for large-scale submergence vehicles, such as submarines and large-scale underwater robots (AUVs or ROVs), but for frogman vehicles, the size is large, the power consumption is high, and the cost is high.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an underwater integrated autonomous navigation device and an initial alignment method thereof.
The invention is realized by the following technical scheme:
an underwater integrated autonomous navigation device comprises a navigation calculation module, a signal conversion module, a data storage module, a micro-electromechanical inertia measurement unit and a Doppler log, wherein the micro-electromechanical inertia measurement unit is used for collecting angular velocity and acceleration data of a frogman carrier; the Doppler log is used for collecting the movement speed data of the frogman carrier; the signal conversion module is respectively connected with the micro-electromechanical inertia measurement unit, the Doppler log and the navigation calculation module and is used for receiving data collected by the micro-electromechanical inertia measurement unit and the Doppler log and transmitting the data to the navigation calculation module; the signal conversion module is also used for receiving position, speed and azimuth data of the mother ship navigation system and transmitting the data to the navigation calculation module; the navigation calculation module is used for processing position, speed and azimuth angle data provided by a mother ship navigation system so as to carry out initial alignment on the micro-electromechanical inertial measurement unit; the navigation calculation module is also used for processing data collected by the micro-electromechanical inertial measurement unit and the Doppler log to obtain an optimized navigation result; the signal conversion module is also used for receiving the navigation result calculated by the navigation calculation module and outputting the navigation result to the frogman carrier; the data storage module is connected with the navigation calculation module and is used for storing angular velocity and acceleration data collected by the micro-electromechanical inertia measurement unit, movement velocity data collected by the Doppler log, navigation results calculated by the navigation calculation module and position, velocity and azimuth angle data of the mother ship navigation system received by the signal conversion module.
Preferably, navigation head still includes the sealed cabin body of top open-ended and the cabin cover of lock to sealed cabin body top, the protruding card rank that is equipped with in the middle part of the sealed cabin body inboard, the card rank rigid coupling has the mounting panel, micro-electromechanical inertia measuring unit rigid coupling to mounting panel below, mounting panel top rigid coupling has data storage module, navigation calculation module and signal conversion module, doppler log rigid coupling to sealed cabin body outside below, the cabin cover is equipped with first watertight head plug connector and the first watertight plug connector of second, first watertight head plug connector is used for the power supply, the first watertight plug connector of second is used for data transmission.
Preferably, the lower side of the cabin cover is provided with an inserting part in interference fit with an opening at the top end of the sealed cabin body, a sealing ring is arranged between the inserting part and the sealed cabin body, the surface of the cabin cover is also provided with a pressure relief hole, and an air-tight plug matched with the pressure relief hole is arranged in the pressure relief hole.
Preferably, the side has mounting plate through first bolt rigid coupling on the doppler log, mounting plate is equipped with the epitaxial portion of side periphery on the protruding doppler log, the bottom of the sealed cabin body is equipped with the recess with mounting plate looks adaptation, mounting plate inlays and locates in the recess, mounting plate's epitaxial portion passes through second bolt rigid coupling to grooved underside.
Preferably, the bolt hole of the second bolt corresponding to the bottom surface of the groove is a blind hole.
Preferably, the signal conversion module is provided with an ethernet output interface, an RS422 output interface and a CAN output interface.
Preferably, the data storage module is provided with a USB output interface.
The invention also discloses an initial alignment method of the navigation device, which is used for the underwater integrated autonomous navigation device and comprises the following steps:
s10, fixing the navigation device to the mother ship to establish communication connection between the navigation device and the navigation system of the mother ship;
s20, the navigation computation module obtains the position data and speed data of the navigation system of the mother ship and binds the data to the navigation device;
s30, the navigation computation module obtains the azimuth angle data of the mother ship navigation system, the angular velocity and acceleration data collected by the micro-electromechanical inertial measurement unit, the movement velocity data collected by the Doppler log, and the attitude error angle of the navigation device, the gyroscope constant error of the micro-electromechanical inertial measurement unit and the accelerometer constant error of the micro-electromechanical inertial measurement unit by combining the position data and the velocity data of the mother ship navigation system through the Kalman filtering algorithm.
Preferably, in the step S30, the state vector of the kalman filter algorithmXThe expression of (a) is as follows:
wherein, the first and the second end of the pipe are connected with each other,
representing the attitude error angle of the micro-electromechanical inertial measurement unit in the east direction,
representing the attitude error angle of the micro-electromechanical inertial measurement unit in the north direction,
representing the attitude of the micro-electromechanical inertial measurement unit in the sky directionThe angle of the error is such that,
representing the velocity error of the micro-electromechanical inertial measurement unit in the east direction,
representing the velocity error of the micro-electromechanical inertial measurement unit in the north direction,
represents the speed error of the micro-electromechanical inertia measurement unit in the direction of the sky,
indicating the position error of the latitude of the micro-electromechanical inertia measurement unit,
representing a position error of the longitude of the microelectromechanical inertial measurement unit,
a position error representing the height of the micro-electromechanical inertial measurement unit,
gyroscope representing a microelectromechanical inertial measurement unitxThe zero offset value of the axis is set,
gyroscope representing a microelectromechanical inertial measurement unityThe zero offset value of the axis is set,
gyroscope representing a microelectromechanical inertial measurement unitzThe zero offset value of the axis is set,
accelerometer representing a microelectromechanical inertial measurement unitxThe zero offset value of the axis is set,
accelerometer representing a microelectromechanical inertial measurement unityThe zero offset value of the axis is set,
accelerometer representing a microelectromechanical inertial measurement unitzThe zero offset value of the axis is set,
indicating the installation error angle between the navigation device and the mother ship,
measurement vector of Kalman filtering algorithmZThe expression of (a) is as follows:
wherein, the first and the second end of the pipe are connected with each other,
indicating the current height value of the mother ship,
indicating the current longitude value of the mother ship,
represents the current latitude value of the mother ship,
representing a velocity measurement of the mother vessel in the east direction,
representing a velocity measurement of the parent vessel in the north direction,
representing a velocity measurement of the parent vessel in the direction of the sky,
indicating the azimuth of the mother ship。
Preferably, in the step S30, the state equation of the kalman filtering algorithm is:
wherein the content of the first and second substances,
is composed of
The first order differential of the first order of the,Fin order to be a state transition matrix,Gis a 15-dimensional unit matrix and is a matrix,Win order to be the noise of the system,
state transition matrixFThe expression of (a) is as follows,
wherein the content of the first and second substances,
wherein, the matrix
Is a state transition matrixFOf a sub-block, matrix
Are all in a matrix
Of a sub-block, matrix
Are all in a matrix
The sub-blocks of (a) and (b),
is composed of
The transpose matrix of (a) is,
for attitude variations between the carrier coordinate system and the navigation coordinate systemAnd the matrix is changed, which is obtained by coarse alignment,
is the angular velocity of the earth's rotation,
is the main curvature radius of the earth-unitary fourth of twelve earthly branches,
is the radius of curvature of the earth's meridian,
represents the projection of the rotation angular velocity of the mother ship in the navigation coordinate system relative to the inertial coordinate system measured by the micro-electromechanical inertial measurement unit in the terrestrial coordinate system,
represents the projection of the rotation angular velocity of the mother ship in the navigation coordinate system relative to the inertial coordinate system measured by the micro-electromechanical inertial measurement unit in the navigation coordinate system,
represents the projection of the rotation angular velocity of the mother ship in the navigation coordinate system relative to the earth coordinate system measured by the micro-electromechanical inertial measurement unit in the navigation coordinate system,
the specific force value measured by the accelerometer of the micro-electromechanical inertial measurement unit,
representing the velocity value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system,
the east velocity value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system is represented,
representing the north velocity value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system,
the measurement equation of the Kalman filtering algorithm is as follows:
wherein the content of the first and second substances,Hin order to measure the matrix, the measurement matrix is,Vin order to measure the noise, the noise is measured,
measuring matrixHThe expression of (a) is as follows,
wherein the content of the first and second substances,Iis a matrix of the units,
is the velocity measurement of the Doppler log in the navigation coordinate system.
The invention has the beneficial effects that:
aiming at the characteristics of navigation and positioning of the underwater frogman, the integrated design of the low-cost and microminiature micro-electromechanical inertial measurement unit MINS and the Doppler log DVL is realized, and the information of the MINS and the Doppler log DVL is fused, so that the navigation and positioning of the underwater frogman and the small-sized carrier are realized under the environment without signals such as a GPS (global positioning system), a Beidou and the like under water without depending on any external information, and the characteristics of strong autonomy, small volume, low power consumption, low cost and convenient use of the navigation of the underwater frogman can be met; the signal conversion module can output the navigation result to the frogman carrier in various modes, so that the navigation device has strong universality; by the integrated design, the overall volume of the navigation device can be effectively reduced, and the small-sized navigation device is suitable for narrow installation spaces of frogman carriers and small robots; the sealing performance between the cabin cover and the sealed cabin body can be improved by the sealing ring and the interference fit mode, the arrangement of the pressure relief hole is convenient for the installation or the disassembly of the cabin cover, and after the cabin cover is installed, the air-tight plug is used for plugging the pressure relief hole; the arrangement of the mounting bottom plate is convenient for the early assembly and the later maintenance of the DVL, and the arrangement of the groove enables the structure of the DVL and the sealed cabin body to be more compact; the blind hole can completely prevent liquid outside the navigation device from permeating into the sealed cabin body from the bolt hole position on the bottom surface of the groove, and plays a role in protecting each module inside the sealed cabin body; the navigation device initial alignment method completes azimuth initial alignment through a mother ship GNSS auxiliary navigation device, position data and speed data of the mother ship GNSS are directly bound to the navigation device in the transfer process, an attitude error angle, a MINS gyroscope constant error and a MINS accelerometer constant error are obtained through Kalman filtering, and then azimuth initialization parameter binding of the navigation device is achieved, and the navigation device can enter navigation of the next stage.
Drawings
FIG. 1 is a schematic diagram of an exploded structure of an underwater integrated autonomous navigation device provided by the present invention;
FIG. 2 is a schematic view of the bottom structure of the sealed cabin of the present invention;
FIG. 3 is a schematic view of the internal structure of the sealed cabin according to the present invention;
FIG. 4 is a block diagram of an underwater integrated autonomous navigation device provided by the present invention;
FIG. 5 is a signal flow chart of the underwater integrated autonomous navigation device provided by the present invention.
In the figure: 1. a first watertight head connector; 2. an airtight plug; 3. a pressure relief vent; 4. a hatch cover; 5. sealing the cabin body; 6. mounting a bottom plate; 7. an extension portion; 8. a Doppler log; 9. a second watertight head connector; 10. a groove; 11. blind holes; 12. a hatch cover mounting hole; 13. a cabin body threaded hole; 14. a seal ring; 15. mounting a plate; 16. a card step; 17. a micro-electromechanical inertial measurement unit; 18. a plug-in part; 19. a data storage module; 20. a voltage conversion module; 21. a navigation calculation module; 22. and a signal conversion module.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and preferred embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1-5, the present invention provides an underwater integrated autonomous navigation apparatus, which includes a navigation computation module 21, a signal conversion module 22, a data storage module 19, a micro-electromechanical inertial measurement unit 17, a Doppler log 8, and a voltage conversion module 20, where the micro-electromechanical inertial measurement unit (MEMS) 17 is called MINS for short, and the Doppler log 8 is called DVL for short, where the voltage conversion module 20 is configured to convert a system power supply voltage into voltages required by other modules and supply power; the micro-electro-mechanical inertial measurement unit 17 is used for collecting angular velocity and acceleration data of the frogman carrier; the Doppler log 8 is used for collecting the movement speed data of the frogman carrier; the signal conversion module 22 is respectively connected with the micro-electromechanical inertia measurement unit 17, the doppler log 8 and the navigation computation module 21, and is used for receiving data collected by the micro-electromechanical inertia measurement unit 17 and the doppler log 8 and transmitting the data to the navigation computation module 21; the signal conversion module 22 is further configured to receive position, speed, and azimuth data of a mother ship navigation system, and transmit the position, speed, and azimuth data to the navigation computation module 21, where the mother ship navigation system is a mother ship GNSS system; the navigation computation module 21 is configured to process position, velocity, and azimuth data provided by the mother ship navigation system to perform initial alignment on the micro-electromechanical inertial measurement unit 17; the navigation calculation module 21 is further configured to process data acquired by the micro-electromechanical inertial measurement unit 17 and the doppler log 8 to obtain an optimized navigation result, the specific flow is as shown in fig. 5, a kalman filter algorithm performs optimal estimation on relevant error parameters of data from the MINS and the DVL, and then corrects the navigation parameters originally output by the MINS according to the output result, so as to obtain an optimized navigation result; the signal conversion module 22 is further configured to receive the navigation result calculated by the navigation calculation module 21 and output the navigation result to the frogman carrier; the data storage module 19 is connected with the navigation calculation module 21 and is used for storing angular velocity and acceleration data acquired by the micro-electromechanical inertial measurement unit 17, movement velocity data acquired by the Doppler log 8, navigation results calculated by the navigation calculation module 21 and position, velocity and azimuth data of a mother ship navigation system received by the signal conversion module 22.
The invention provides an underwater integrated autonomous navigation device, which further comprises a sealing cabin body 5 with an opening at the top end and a cabin cover 4 buckled to the top end of the sealing cabin body 5, wherein the sealing cabin body 5 is integrally cylindrical, a clamping step 16 is convexly arranged in the middle of the inner side of the sealing cabin body 5, the clamping step 16 is fixedly connected with a mounting plate 15, a micro-electromechanical inertia measuring unit 17 is fixedly connected to the lower part of the mounting plate 15, a data storage module 19, a voltage conversion module 20, a navigation calculation module 21 and a signal conversion module 22 are fixedly connected to the upper part of the mounting plate 15, a Doppler log 8 is fixedly connected to the lower part of the outer side of the sealing cabin body 5, the cabin cover is provided with a first watertight head connector 1 and a second watertight head connector 9, the first watertight head connector 1 is used for power supply, the second watertight head connector 9 is used for data transmission, and the first watertight head connector 1 and the second watertight head connector 9 can be provided with a plurality of, in this embodiment, first watertight first plug connector 1 is equipped with one, second watertight first plug connector 9 is equipped with two, through the integrated design, can effectively reduce navigation head's whole volume, adapts to the narrow and small installation space of frogman carrier, small robot.
The cabin cover is characterized in that an inserting part 18 which is in interference fit with an opening at the top end of the sealed cabin body 5 is arranged at the lower side of the cabin cover, a plurality of cabin cover mounting holes 12 which are distributed at equal angles are arranged on the periphery of the inserting part 18 of the cabin cover, a cabin body threaded hole 13 which is matched with the cabin cover mounting hole 12 is arranged at the top end of the sealed cabin body 5, a mounting bolt penetrates through the cabin cover mounting hole 12 and is screwed to the cabin body threaded hole 13, the cabin cover can be fixedly mounted to the sealed cabin body 5, a sealing ring 14 is arranged between the inserting part 18 and the sealed cabin body 5, a pressure relief hole 3 is further arranged on the surface of the cabin cover, an adaptive airtight plug 2 is arranged in the pressure relief hole 3, the sealing performance between the cabin cover and the sealed cabin body 5 can be improved in a sealing mode of the sealing ring 14 and the interference fit, in the mounting or dismounting process of the cabin cover, the air pressure in the sealed cabin body 5 is kept consistent with the air pressure outside the sealed cabin body 5, and the cabin cover is convenient to mount or dismount, after the hatch is installed, the gas-tight plug 2 is used to plug the pressure relief hole 3.
The upper side of the DVL is fixedly connected with a mounting bottom plate 6 through a first bolt, the mounting bottom plate 6 is provided with an extending part 7 protruding out of the periphery of the upper side of the DVL, the bottom end of the sealed cabin body 5 is provided with a groove 10 matched with the mounting bottom plate 6, the mounting bottom plate 6 is embedded in the groove 10, the extending part 7 of the mounting bottom plate 6 is fixedly connected to the bottom surface of the groove 10 through a second bolt, because the bolt hole of the DVL is generally arranged on the upper side surface, if the DVL is directly mounted to the sealed cabin body 5 through the bolt hole of the DVL, a through hole needs to be arranged at the bottom of the sealed cabin body 5, and the bolt penetrates through the through hole from the inside of the sealed cabin body 5 to fix the DVL, so that the DVL is inconvenient to be mounted, if the DVL fails, the DVL is inconvenient to be dismounted and replaced, and the mounting bottom plate 6 enables a worker to directly finish the fixing of the DVL outside the sealed cabin body 5, the DVL is convenient for early assembly and later maintenance, and the arrangement of the groove 10 enables the DVL and the sealed cabin body 5 to be more compact in structure.
The bolt holes of the second bolt corresponding to the bottom surface of the groove 10 are blind holes 11, so that liquid outside the navigation device can be completely prevented from permeating into the sealed cabin body 5 from the bolt holes in the bottom surface of the groove 10, and each module inside the sealed cabin body 5 is protected.
The signal conversion module 22 is provided with an Ethernet output interface, an RS422 output interface and a CAN output interface, and the signal conversion module 22 CAN output the navigation result to the frogman carrier in various ways, so that the navigation device has strong universality.
The data storage module 19 is provided with a USB output interface, which is convenient for the staff to read the data stored in the data storage module 19.
The invention also discloses an initial alignment method of the navigation device, which is used for the underwater integrated autonomous navigation device and comprises the following steps:
s10, fixing the navigation device to the mother ship to establish communication connection between the navigation device and the navigation system of the mother ship;
s20, the navigation computation module obtains the position data and speed data of the navigation system of the mother ship and binds the data to the navigation device;
s30, the navigation computation module obtains the azimuth angle data of the mother ship navigation system, the angular velocity and acceleration data collected by the micro-electromechanical inertial measurement unit, the movement velocity data collected by the Doppler log, combines the position data and velocity data of the mother ship navigation system, obtains the attitude error angle of the navigation device, the gyroscope constant error of the micro-electromechanical inertial measurement unit and the accelerometer constant error of the micro-electromechanical inertial measurement unit through the Kalman filtering algorithm, the technical proposal assists the navigation device to complete the initial alignment of the azimuth through the mother ship navigation system, directly binds the position data and velocity data of the mother ship GNSS to the navigation device in the transmission process, obtains the attitude error angle, the MINS gyroscope constant error and the MINS accelerometer constant error through the Kalman filtering, further realizes the binding of the azimuth initialization parameters of the navigation device, and leads the navigation device to enter the navigation of the next stage, namely, after the initial alignment of the navigation device is completed, the navigation device is detached from the mother ship and is installed on the frogman carrier, thereby realizing the navigation work of the frogman carrier.
In the technical scheme, the carrier coordinate system (system b) adopts a right-front-upper coordinate system, namely, the center of mass of the navigation device is taken as an origin, and the right side direction of the advancing direction of the navigation device is taken as the right side directionxThe axis, the advancing direction of the navigation device isyThe shaft is provided with a plurality of axial holes,zthe axis is determined by the right hand rule;
the navigation coordinate system (n system) adopts a northeast coordinate system, namely the center of mass of the navigation device is taken as an origin, and the geographical east direction of the navigation device is taken asEThe geographic north direction of the axis, navigation device isNThe shaft is provided with a plurality of axial holes,Uthe shaft is driven by the right handAnd (5) determining.
In the step S30, the attitude error angle, the velocity error, the position error, the gyroscope zero offset value, the accelerometer zero offset value, and the installation error angle of the navigation device of the MINS are used as the state vector of the kalman filter algorithmXThe state vectorXThe expression of (a) is as follows:
wherein the content of the first and second substances,
representing the attitude error angle of the micro-electromechanical inertial measurement unit in the east direction,
representing the attitude error angle of the micro-electromechanical inertial measurement unit in the north direction,
representing the attitude error angle of the micro-electromechanical inertial measurement unit in the sky direction,
representing the velocity error of the micro-electromechanical inertial measurement unit in the east direction,
representing the velocity error of the micro-electromechanical inertial measurement unit in the north direction,
represents the speed error of the micro-electromechanical inertia measurement unit in the direction of the sky,
indicating the position error of the latitude of the micro-electromechanical inertia measurement unit,
representing micro-electromechanical inertial measurement unitsThe position error of the longitude is determined by the position error,
a position error representing the height of the micro-electromechanical inertial measurement unit,
gyroscope representing a microelectromechanical inertial measurement unitxThe zero offset value of the axis is set,
gyroscope representing a microelectromechanical inertial measurement unityThe zero offset value of the axis is set,
gyroscope representing a microelectromechanical inertial measurement unitzThe zero offset value of the axis is set,
accelerometer representing a microelectromechanical inertial measurement unitxThe zero offset value of the axis is set,
accelerometer representing a microelectromechanical inertial measurement unityThe zero offset value of the axis is set,
accelerometer representing a microelectromechanical inertial measurement unitzThe zero offset value of the axis is set,
indicating the installation error angle between the navigation device and the mother ship,
the position, the speed and the azimuth angle acquired by the GNSS of the mother ship are taken as measurement vectors of the Kalman filtering algorithmZSaid measurement vectorZThe expression of (a) is as follows:
wherein the content of the first and second substances,
indicating the current height value of the mother ship,
indicating the current longitude value of the mother ship,
represents the current latitude value of the mother ship,
representing a velocity measurement of the mother vessel in the east direction,
representing a velocity measurement of the parent vessel in the north direction,
representing a velocity measurement of the parent vessel in the direction of the sky,
indicating the azimuth of the mother vessel.
In the step of S30,
the attitude angle error equation of the Kalman filtering algorithm is as follows:
wherein the content of the first and second substances,
wherein the content of the first and second substances,
the attitude transformation matrix between the carrier coordinate system and the navigation coordinate system is obtained by rough alignment, namely the attitude transformation matrix is obtained by rough calculation by utilizing the gravity acceleration and the rotational angular velocity of the earth,
transforming matrices for gestures
First, the
Go to the first
The elements of the column are,
，
，
is the angular velocity of the earth's rotation,
is the main curvature radius of the earth-unitary fourth of twelve earthly branches,
is the radius of curvature of the earth meridian major circle,
the gyroscope zero bias value of the micro-electromechanical inertial measurement unit is converted into the east component of the navigation coordinate system,
the zero offset value of the gyroscope of the micro-electromechanical inertial measurement unit is converted into a component in the north direction under a navigation coordinate system,
the gyroscope zero bias value of the micro-electromechanical inertial measurement unit is converted into the component of the navigation coordinate system in the vertical direction,
is composed of
Is determined by the first order differential of (a),
is composed of
The first order differential of the first order of the,
is composed of
The first order differential of the first order of the,
the velocity error equation of the kalman filter algorithm is as follows:
wherein the content of the first and second substances,
wherein the content of the first and second substances,
for the conversion of the acceleration measurements of the micro-electromechanical inertial measurement unit to the east component of the navigational coordinate system,
for the conversion of the acceleration measurements of the micro-electromechanical inertial measurement unit to the north component under the navigation coordinate system,
for the conversion of the acceleration measurement value of the micro-electromechanical inertia measurement unit to the component of the navigation coordinate system in the downward direction,
the accelerometer zero offset value of the micro-electromechanical inertia measurement unit is converted into an east component of a navigation coordinate system,
the zero offset value of the accelerometer of the micro-electromechanical inertial measurement unit is converted into a component in the north direction under the navigation coordinate system,
the accelerometer zero offset value of the micro-electromechanical inertia measurement unit is converted into a component of the navigation coordinate system in the downward direction,
is composed of
The first order differential of the first order of the,
is composed of
The first order differential of the first order of the,
is composed of
The first order differential of the first order of the,
the position error equation of the kalman filter algorithm is as follows:
wherein the content of the first and second substances,
is composed of
The first order differential of the first order of the,
is composed of
The first order differential of the first order of the,
is composed of
Is determined by the first order differential of (a),
and combining the attitude angle error equation, the speed error equation and the position error equation to obtain a state equation of the Kalman filtering algorithm:
wherein the content of the first and second substances,
is composed of
Is determined by the first order differential of (a),Fin order to be a state transition matrix,Gis a 15-dimensional unit matrix and is a matrix,Wis system noise, which is the noise of the systemWAccording to the device precision grade setting of the MINS gyroscope and the MINS accelerometer,
state transition matrixFThe expression of (a) is as follows,
wherein the content of the first and second substances,
wherein, the matrix
Is a state transition matrixFOf a sub-block, matrix
Are all in a matrix
Sub-block, matrix of
Are all in a matrix
The sub-blocks of (a) and (b),
is composed of
The transpose matrix of (a) is,
represents the projection of the rotation angular velocity of the mother ship in the navigation coordinate system relative to the inertial coordinate system measured by the micro-electromechanical inertial measurement unit in the terrestrial coordinate system,
represents the projection of the rotation angular velocity of the mother ship in the navigation coordinate system relative to the inertial coordinate system measured by the micro-electromechanical inertial measurement unit in the navigation coordinate system,
represents the projection of the rotation angular velocity of the mother ship in the navigation coordinate system relative to the earth coordinate system measured by the micro-electromechanical inertial measurement unit in the navigation coordinate system,
the specific force value measured by the accelerometer of the micro-electromechanical inertial measurement unit,
representing the velocity value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system,
the east velocity value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system is represented,
representing the north velocity value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system,
the position error measurement equation of the Kalman filtering algorithm is as follows:
wherein the content of the first and second substances,
a position error vector is represented which is representative of,
representing the height value measured by the micro-electromechanical inertial measurement unit,
representing the longitude values measured by the micro-electromechanical inertial measurement unit,
represents the latitude value measured by the micro-electromechanical inertia measuring unit,
representing the measured altitude value of the parent vessel navigation system,
representing the longitude value measured by the parent vessel navigation system,
representing the latitude value measured by the navigation system of the mother ship,
the velocity error measurement equation of the Kalman filtering algorithm is as follows:
wherein the content of the first and second substances,
the speed error vector is represented by a vector of speed errors,
the value of the sky velocity measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system is represented,
representing an east velocity measurement of the doppler log in the navigational coordinate system,
representing the velocity measurements of the doppler log in the north direction under the navigational coordinate system,
representing velocity measurements of the doppler log in the direction of the day under the navigational coordinate system,
combining the position error measurement equation and the speed error measurement equation to obtain a measurement equation of a Kalman filtering algorithm:
wherein the content of the first and second substances,Hin order to measure the matrix, the measurement matrix is,Vto measure noise, the measurement noiseVAccording to the measurement accuracy setting of the mother ship GNSS,
measuring matrixHThe expression of (a) is as follows,
wherein the content of the first and second substances,Iis a matrix of the unit, and is,
the velocity measurement value of the Doppler log in a carrier coordinate system is obtained.
Aiming at the characteristics of navigation and positioning of the underwater frogman, the integrated design of the low-cost and microminiature micro-electromechanical inertial measurement unit and the Doppler log is realized, and the information of the two is fused, so that the navigation and positioning of the underwater frogman and the small-sized carrier are realized under the environment without signals such as a GPS (global positioning system), a Beidou and the like under the water without depending on any external information, and the characteristics of strong autonomy, small volume, low power consumption, low cost and convenient use of the navigation of the underwater frogman can be met; the signal conversion module can output the navigation result to the frogman carrier in various modes, so that the navigation device has strong universality; by the integrated design, the overall volume of the navigation device can be effectively reduced, and the small-sized navigation device is suitable for narrow installation spaces of frogman carriers and small robots; the sealing performance between the cabin cover and the sealed cabin body can be improved by the sealing ring and the interference fit mode, the arrangement of the pressure relief hole is convenient for the installation or the disassembly of the cabin cover, and after the cabin cover is installed, the air-tight plug is used for plugging the pressure relief hole; the arrangement of the mounting bottom plate is convenient for the early assembly and the later maintenance of the DVL, and the arrangement of the groove enables the structure of the DVL and the sealed cabin body to be more compact; the blind hole can completely prevent liquid outside the navigation device from permeating into the sealed cabin body from the bolt hole position on the bottom surface of the groove, and plays a role in protecting each module in the sealed cabin body; the initial alignment method of the navigation device finishes the initial alignment of the azimuth through the mother ship GNSS auxiliary navigation device, in the transmission process, the position data and the speed data of the mother ship GNSS are directly bound to the navigation device, the attitude error angle, the MINS gyroscope constant error and the MINS accelerometer constant error are obtained through Kalman filtering, and then the initial parameter binding of the azimuth of the navigation device is realized, so that the navigation device can enter the navigation of the next stage.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An underwater integrated autonomous navigation device comprises a navigation computation module, and is characterized by also comprising a signal conversion module, a data storage module, a micro-electromechanical inertia measurement unit and a Doppler log, wherein,
the micro-electro-mechanical inertial measurement unit is used for collecting angular velocity and acceleration data of the frogman carrier;
the Doppler log is used for collecting the movement speed data of the frogman carrier;
the signal conversion module is respectively connected with the micro-electromechanical inertia measurement unit, the Doppler log and the navigation calculation module and is used for receiving data collected by the micro-electromechanical inertia measurement unit and the Doppler log and transmitting the data to the navigation calculation module; the signal conversion module is also used for receiving position, speed and azimuth data of the mother ship navigation system and transmitting the data to the navigation calculation module;
the navigation calculation module is used for processing position, speed and azimuth angle data provided by a mother ship navigation system so as to carry out initial alignment on the micro-electromechanical inertial measurement unit; the navigation calculation module is also used for processing data collected by the micro-electromechanical inertial measurement unit and the Doppler log to obtain an optimized navigation result;
the signal conversion module is also used for receiving the navigation result calculated by the navigation calculation module and outputting the navigation result to the frogman carrier;
the data storage module is connected with the navigation calculation module and is used for storing angular velocity and acceleration data collected by the micro-electromechanical inertia measurement unit, movement velocity data collected by the Doppler log, navigation results calculated by the navigation calculation module and position, velocity and azimuth angle data of the mother ship navigation system received by the signal conversion module.
2. The underwater integrated autonomous navigation device of claim 1, further comprising a sealed cabin body with an opening at the top end and a cabin cover fastened to the top end of the sealed cabin body, wherein a clamping step is convexly arranged in the middle of the inner side of the sealed cabin body, a mounting plate is fixedly connected to the clamping step, a micro-electromechanical inertia measuring unit is fixedly connected to the lower portion of the mounting plate, a data storage module, a navigation calculation module and a signal conversion module are fixedly connected to the upper portion of the mounting plate, a doppler log is fixedly connected to the lower portion of the outer side of the sealed cabin body, the cabin cover is provided with a first watertight connector and a second watertight connector, the first watertight connector is used for power supply, and the second watertight connector is used for data transmission.
3. The underwater integrated autonomous navigation device of claim 2, wherein an insertion portion which is in interference fit with an opening at the top end of the sealed cabin body is arranged on the lower side of the cabin cover, a sealing ring is arranged between the insertion portion and the sealed cabin body, a pressure relief hole is further formed in the surface of the cabin cover, and an air-tight plug which is matched with the pressure relief hole is arranged in the pressure relief hole.
4. The underwater integrated autonomous navigation device of claim 2, wherein the upper side of the doppler log is fixedly connected with a mounting base plate through a first bolt, the mounting base plate is provided with an extending portion protruding out of the periphery of the upper side of the doppler log, the bottom end of the sealed cabin body is provided with a groove matched with the mounting base plate, the mounting base plate is embedded in the groove, and the extending portion of the mounting base plate is fixedly connected to the bottom surface of the groove through a second bolt.
5. The underwater integrated autonomous navigation apparatus of claim 4, wherein the bolt holes of the second bolts corresponding to the bottom surface of the groove are blind holes.
6. The underwater integrated autonomous navigation apparatus of claim 1, wherein the signal conversion module is provided with an ethernet output interface, an RS422 output interface and a CAN output interface.
7. The underwater integrated autonomous navigation apparatus of claim 1, wherein the data storage module is provided with a USB output interface.
8. An initial alignment method of a navigation device, which is used for the underwater integrated autonomous navigation device of any one of claims 1 to 7, comprising the steps of:
s10, fixing the navigation device to the mother ship to establish communication connection between the navigation device and the navigation system of the mother ship;
s20, the navigation computation module obtains the position data and speed data of the navigation system of the mother ship and binds the data to the navigation device;
s30, the navigation computation module obtains the azimuth angle data of the mother ship navigation system, the angular velocity and acceleration data collected by the micro-electromechanical inertial measurement unit, the movement velocity data collected by the Doppler log, and the attitude error angle of the navigation device, the gyroscope constant error of the micro-electromechanical inertial measurement unit and the accelerometer constant error of the micro-electromechanical inertial measurement unit by combining the position data and the velocity data of the mother ship navigation system through the Kalman filtering algorithm.
9. The method of claim 8, wherein in the step S30, the state vector of Kalman filter algorithmXThe expression of (a) is as follows:
wherein the content of the first and second substances,
representing the attitude error angle of the micro-electromechanical inertial measurement unit in the east direction,
representing microelectromechanical inertial measurement unitsThe attitude error angle of the element in the north direction,
representing the attitude error angle of the micro-electromechanical inertial measurement unit in the sky direction,
representing the velocity error of the micro-electromechanical inertial measurement unit in the east direction,
representing the velocity error of the micro-electromechanical inertial measurement unit in the north direction,
represents the speed error of the micro-electromechanical inertia measurement unit in the direction of the sky,
indicating the position error of the latitude of the micro-electromechanical inertia measurement unit,
representing a position error of the longitude of the microelectromechanical inertial measurement unit,
a position error representing the height of the micro-electromechanical inertial measurement unit,
gyroscope representing a microelectromechanical inertial measurement unitxThe zero offset value of the axis is set,
gyroscope representing a microelectromechanical inertial measurement unityThe zero offset value of the axis is set,
gyroscope representing a microelectromechanical inertial measurement unitzThe zero offset value of the axis is set,
accelerometer representing a microelectromechanical inertial measurement unitxThe zero offset value of the axis is set,
accelerometer representing a microelectromechanical inertial measurement unityThe zero offset value of the axis is set,
accelerometer representing a microelectromechanical inertial measurement unitzThe zero offset value of the axis is set,
indicating the installation error angle between the navigation device and the mother ship,
measurement vector of Kalman filtering algorithmZThe expression of (a) is as follows:
wherein, the first and the second end of the pipe are connected with each other,
indicating the current height value of the mother ship,
indicating the current longitude value of the mother ship,
represents the current latitude value of the mother ship,
representing a velocity measurement of the mother vessel in the east direction,
representing a velocity measurement of the parent vessel in the north direction,
representing a velocity measurement of the parent vessel in the direction of the sky,
indicating the azimuth of the mother vessel.
10. The method of claim 9, wherein in the step S30, the state equation of the kalman filter algorithm is:
wherein the content of the first and second substances,
is composed of
The first order differential of the first order of the,Fin order to be a state transition matrix,Gis a 15-dimensional unit matrix and is a matrix,Win order to be the noise of the system,
state transition matrixFThe expression of (a) is as follows,
wherein the content of the first and second substances,
wherein, the matrix
Is a state transition matrixFOf a sub-block, matrix
Are all in a matrix
Sub-block, matrix of
Are all in a matrix
The sub-blocks of (a) and (b),
is composed of
The transpose matrix of (a) is,
is an attitude transformation matrix between a carrier coordinate system and a navigation coordinate system, is obtained by rough alignment,
is the angular velocity of the earth's rotation,
is the main curvature radius of the earth-unitary fourth of twelve earthly branches,
is the radius of curvature of the earth meridian major circle,
represents the projection of the rotation angular velocity of the mother ship in the navigation coordinate system relative to the inertial coordinate system measured by the micro-electromechanical inertial measurement unit in the terrestrial coordinate system,
representing mother vessels measured by micro-electromechanical inertial measurement unitsProjection of the angular velocity of rotation in the navigation coordinate system relative to the inertial coordinate system in the navigation coordinate system,
represents the projection of the rotation angular velocity of the mother ship in the navigation coordinate system relative to the earth coordinate system measured by the micro-electromechanical inertial measurement unit in the navigation coordinate system,
the specific force value measured by the accelerometer of the micro-electromechanical inertial measurement unit,
representing the velocity value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system,
the east velocity value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system is represented,
representing the north velocity value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system,
the measurement equation of the Kalman filtering algorithm is as follows:
wherein the content of the first and second substances,Hin order to measure the matrix, the measurement matrix is,Vin order to measure the noise, the noise is measured,
measuring matrixHThe expression of (a) is as follows,
wherein the content of the first and second substances,Iis a matrix of the units,
the velocity measurement value of the Doppler log in a carrier coordinate system is obtained.
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