CN115060274B - 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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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 navigation and positioning of underwater targets cannot be carried out by common vision and GNSS satellite navigation (including GPS, beidou and the like).
When the frogman carries out underwater rescue, salvage, desilting, photography, maintenance and other operations, the frogman generally assists the frogman to navigate to a specified place for operation, 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 sound 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 carried out by using the prior background image, corresponding sensors are required to be equipped 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 underwater frogman is extremely inconvenient to use.
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, a fully autonomous navigation positioning device is needed, 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 (a gyroscope measures angular motion and an accelerometer measures 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 capable of completing initial self-alignment, which is acceptable for large submersible vehicles such as submarines and large underwater robots (AUV or ROV), but has large volume, high power consumption and high cost for frogman vehicles.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide 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 holes of the second bolt corresponding to the bottom surface of the groove are blind holes.
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 enable the navigation device to be in communication connection with a navigation system of the mother ship;
s20, the navigation calculation module acquires position data and speed data of the parent ship navigation system and binds the position data and the speed data to the navigation device;
and S30, the navigation calculation module acquires azimuth angle data of the mother ship navigation system, angular velocity and acceleration data acquired by the micro-electromechanical inertial measurement unit, movement velocity data acquired by the Doppler log, and attitude error angle of the navigation device, gyroscope constant error of the micro-electromechanical inertial measurement unit and accelerometer constant error of the micro-electromechanical inertial measurement unit by combining position data and velocity data of the mother ship navigation system through a Kalman filtering algorithm.
Preferably, in the step S30, the state vector of the kalman filtering algorithmXThe expression of (a) is as follows:
wherein,
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,
represents the attitude error angle of the micro-electromechanical inertial measurement unit in the direction of the sky,
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,
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 measurement of the speed of the mother vessel in the direction of the sky,
indicating the azimuth of the mother vessel.
Preferably, in the step S30, the state equation of the kalman filtering algorithm is:
wherein,
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,
wherein, the matrix
As 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 prime circle,
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,
representing the measured mother from a microelectromechanical inertial measurement unitThe projection of the rotation angular velocity of the ship 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,
the speed value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system is represented,
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,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,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 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.
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 of 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 diagram 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 plug; 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, are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships indicated in the drawings, and are used for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to 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 referred to as MINS for short, and the Doppler log 8 is referred to as DVL for short, and the voltage conversion module 20 is configured to convert a system power supply voltage into voltages required by the 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 inertia 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 filtering algorithm performs optimal estimation on relevant error parameters of the 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, the first watertight head connector 1 and the second watertight head connector 9 can be provided in multiple numbers, in the embodiment, the first watertight head connector 1 is provided with two watertight head connectors 9, the overall size of the navigation device can be effectively reduced through an integrated design, and the underwater integrated autonomous navigation device is suitable for installation space of frogman and small robot.
The cabin cover is characterized in that an inserting part 18 in interference fit with an opening in the top end of the sealed cabin body 5 is arranged on the lower side of the cabin cover, a plurality of cabin cover mounting holes 12 distributed at equal angles are formed in the periphery of the inserting part 18 of the cabin cover, cabin body threaded holes 13 matched with the cabin cover mounting holes 12 are formed in the top end of the sealed cabin body 5, mounting bolts penetrate through the cabin cover mounting holes 12 and are screwed to the cabin body threaded holes 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, pressure relief holes 3 are further formed in the surface of the cabin cover, adaptive airtight plugs 2 are arranged in the pressure relief holes 3, the sealing performance between the cabin cover and the sealed cabin body 5 can be improved in a sealing mode through the sealing ring 14 and the interference fit mode, in the installation or disassembly 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, the installation or the disassembly of the cabin cover is convenient, and after the cabin cover is installed, the airtight plugs 2 are used for plugging the pressure relief holes 3.
The side has mounting plate 6 through first bolt rigid coupling on the DVL, mounting plate 6 is equipped with the extension portion 7 of the protruding DVL upper flank periphery, the bottom of the sealed cabin body 5 is equipped with the recess 10 with mounting plate 6 looks adaptation, mounting plate 6 inlays and locates in the recess 10, mounting plate 6's extension portion 7 passes through second bolt rigid coupling to recess 10 bottom surface, because DVL's bolt hole generally sets up its side, if directly install it to the sealed cabin body 5 through DVL from the bolt hole of taking, then need set up the through-hole at the sealed cabin body 5 bottom to pass the bolt through-hole from sealed 5 inside and fix DVL, be inconvenient to install DVL, if DVL breaks down, also be inconvenient to dismantle and change DVL, mounting plate 6's setting up makes the staff can directly accomplish the fixing to DVL in the outside of the sealed cabin body 5, be convenient for DVL's earlier stage assembly and later maintenance, the setting up of recess 10 makes DVL more compact with the structure of the sealed cabin body 5.
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 modes, 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 enable the navigation device to be in communication connection with a navigation system of the mother ship;
s20, the navigation calculation module acquires position data and speed data of a mother ship navigation system and binds the position data and the speed data to a navigation device;
s30, the navigation calculation module obtains azimuth angle data of a mother ship navigation system, angular velocity and acceleration data collected by a micro-electromechanical inertial measurement unit and movement velocity data collected by a Doppler log, combines position data and velocity data of the mother ship navigation system, obtains an attitude error angle of a navigation device, a gyroscope constant error of the micro-electromechanical inertial measurement unit and an accelerometer constant error of the micro-electromechanical inertial measurement unit through a Kalman filtering algorithm, and in the technical scheme, the navigation device is assisted by the mother ship navigation system to complete azimuth initial alignment.
In the technical scheme, the carrier coordinate system (system b) adopts a front right 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 directionxAxis, 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 axes are determined by the right hand rule.
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,
representing the attitude error angle of the micro-electromechanical inertial measurement unit in the east direction,
represents the attitude error angle of the micro-electromechanical inertial measurement unit in the north direction,
represents the attitude error angle of the micro-electromechanical inertial measurement unit in the direction of the sky,
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,
the position error of the latitude of the micro-electromechanical inertia measurement unit is shown,
representing the position error of the longitude of the micro-electromechanical inertial measurement unit,
represents the position error of 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 vessel,
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,
indicating the current height value of the mother ship,
represents 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 measurement of the speed of the mother 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,
wherein,
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 prime circle,
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 an east component of a navigation coordinate system,
the gyroscope zero bias value of the micro-electromechanical inertial measurement unit is converted into a component in the north direction under the 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
Is determined by the first order differential of (a),
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,
wherein,
in order to convert the acceleration measured value of the micro-electromechanical inertia measuring unit into the east component of the navigation 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,
the acceleration measured value of the micro-electromechanical inertia measuring unit is converted into the component of the navigation coordinate system in the direction of the sky,
the accelerometer zero offset value of the micro-electromechanical inertia measurement unit is converted into an east component of a navigation coordinate system,
the accelerometer zero offset value 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
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 position error equation of the kalman filter algorithm is as follows:
wherein,
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,
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,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,
wherein the matrix
As 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,
the speed value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system is represented,
the east velocity value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system is shown,
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,
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 value 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 speed error vector is represented by a vector of speed errors,
indicating a micro-electromechanical inertial measurement unit inThe measured values of the sky speed under the navigation coordinate system,
representing an eastern 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,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,Iis a matrix of the units,
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 low-cost and microminiature micro-electromechanical inertial measurement unit and the Doppler log 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; through the integrated design, the overall volume of the navigation device can be effectively reduced, and the 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 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.
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 amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.
Claims (9)
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 acquired 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 and carrying out initial alignment on the micro-electromechanical inertial measurement unit through a Kalman filtering algorithm; the navigation calculation module is also used for processing data collected by the micro-electromechanical inertial measurement unit and the Doppler log and obtaining an optimized navigation result through a Kalman filtering algorithm,
state vector of the Kalman filtering algorithmXThe expression of (c) is as follows:
wherein,
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 a position error of the longitude of the microelectromechanical inertial measurement unit,
represents the position error of 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 vessel,
measurement vector of the Kalman filtering algorithmZThe expression of (c) is as follows:
wherein,
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,
representing the azimuth of the mother vessel;
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 top-opening sealed cabin body 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 measurement 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, a first watertight connector and a second watertight connector are arranged on the cabin cover, 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 is arranged on the lower side of the cabin cover, a sealing ring is arranged between the insertion portion and the sealed cabin, 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 formed 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 corresponding bolt holes of the second bolts on 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 enable the navigation device to be in communication connection with a navigation system of the mother ship;
s20, the navigation calculation module acquires position data and speed data of the parent ship navigation system and binds the position data and the speed data to the navigation device;
and S30, the navigation calculation module acquires azimuth angle data of the mother ship navigation system, angular velocity and acceleration data acquired by the micro-electromechanical inertial measurement unit, movement velocity data acquired by the Doppler log, and attitude error angle of the navigation device, gyroscope constant error of the micro-electromechanical inertial measurement unit and accelerometer constant error of the micro-electromechanical inertial measurement unit by combining position data and velocity data of the mother ship navigation system through a Kalman filtering algorithm.
9. The method of claim 8, wherein in the step S30, the state equation of the kalman filter algorithm is:
wherein,
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 a noise of the system,
state transition matrixFThe expression of (a) is as follows,
wherein,
wherein, the matrix
As 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) are,
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,
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,
the speed value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system is represented,
the east velocity value measured by the micro-electromechanical inertial measurement unit under the navigation coordinate system is shown,
represents 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,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,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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