CN117346795A - Combined navigation method of submarine craft integrating inertial navigation, doppler log and long base line - Google Patents
Combined navigation method of submarine craft integrating inertial navigation, doppler log and long base line Download PDFInfo
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- CN117346795A CN117346795A CN202311648632.4A CN202311648632A CN117346795A CN 117346795 A CN117346795 A CN 117346795A CN 202311648632 A CN202311648632 A CN 202311648632A CN 117346795 A CN117346795 A CN 117346795A
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- 238000005259 measurement Methods 0.000 claims abstract description 37
- 230000004927 fusion Effects 0.000 claims abstract description 13
- 239000011159 matrix material Substances 0.000 claims description 26
- 238000001914 filtration Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
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Classifications
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention discloses a combined navigation method of a submarine vehicle integrating inertial navigation, a Doppler log and a long baseline, which belongs to the technical field of laser radar measurement and is used for combined navigation of the submarine vehicle. The invention adopts a multi-model data fusion strategy to adapt to different data loss conditions, thereby improving the robustness and the accuracy of positioning.
Description
Technical Field
The invention discloses a combined navigation method of a submarine craft integrating inertial navigation, a Doppler log and a long base line, belonging to the technical field of combined navigation.
Background
Unmanned Underwater Vehicles (UUVs) play an important role in the fields of submarine exploration, marine science research, marine resource development, and the like. However, achieving high accuracy underwater navigation has been a critical issue due to the complexity of the underwater environment and the challenges of navigation. Inertial Navigation Systems (INS) estimate position and attitude by measuring acceleration and angular velocity, but their errors accumulate over time, resulting in reduced navigation accuracy. A sonar ranging Device (DVL) estimates a position change by measuring a speed of underwater with respect to the ground, but in the case of an obstacle-dense area or poor signal reflection, the accuracy of the DVL is limited. A low frequency Long Baseline (LBL) positioning system is an acoustic signal based positioning technique that uses the time or phase differences of arrival of signals to estimate the position of a UUV by placing multiple transmitters and receivers under water. The LBL system has higher precision and stability, but the base station needs to be pre-installed, and the underwater arrangement is limited to a certain extent. In the conventional underwater integrated navigation of DVL/INS or LBL/INS, data loss exists in each sensor to different degrees, and the instant data loss may not greatly affect the positioning accuracy. However, when continuous data loss occurs, dead reckoning is often performed solely by means of INS, which may lead to a gradual decrease in positioning accuracy over time.
Disclosure of Invention
The invention aims to provide a combined navigation method of a submarine, which is used for fusing inertial navigation, a Doppler log and a long baseline, so as to solve the problem of low precision of the combined navigation method of the submarine in the prior art.
The combined navigation method of the submarine craft integrating inertial navigation, doppler log and long base line comprises the following steps:
s1, acquiring original data of an inertial navigation device, a Doppler log, a long baseline and a depth gauge, and performing time alignment on the data from four sensors;
s2, acquiring a carrier three-dimensional position vector and a carrier three-dimensional speed vector;
s3, selecting a northeast geographic coordinate system as a navigation coordinate system, namely, the eastern direction is called as the e direction, the northern direction is called as the n direction, the heaven direction is called as the u direction, and establishing fusion inertial navigation, doppler log and long base by taking the error quantity of navigation parameters of the strapdown inertial navigation system as a state quantityCombined navigational state vector for a wire；
S4, constructing a state equation of the integrated navigation system fusing inertial navigation, a Doppler log and a long base line;
s5, calculating position information of the carrier calculated by the long baseline and the strapdown inertial navigation system under a navigation coordinate system;
s6, constructing a three-dimensional distance measurement equation;
s7, constructing a three-dimensional speed measurement equation by the difference between the three-dimensional speed vector output by the Doppler log and the three-dimensional speed information of the strapdown inertial navigation system;
s8, combining a measurement matrix of three-dimensional position quantity measurement formed by inertial navigation and a long baseline with a measurement matrix of three-dimensional speed quantity measurement formed by inertial navigation and a Doppler log to form a six-dimensional quantity measurement equation of a combined navigation system integrating the inertial navigation, the Doppler log and the long baseline, and performing extended Kalman filtering estimation with a state equation to obtain the motion state of the carrier.
S2 comprises the following steps:
preprocessing long baseline raw data, and if the number of the beacon ranging information is more than or equal to 4, positioning an underwater two-dimensional plane to obtain the two-dimensional plane position of the carrierIf no ranging information exists or the number of ranging information is less than or equal to three, positioning is not performed, and data loss is judged;
filtering the depth data to remove abnormal values and obtain the height information of the carrierPlane coordinates calculated with the long base line form a carrier three-dimensional position vector +.>；
The Doppler log obtains the three-dimensional velocity vector of the carrier。
Is a 15 x 1 state vector comprising three position errors of longitude and latitude and +.>Speed error in northeast-day direction +.>Attitude error angle +.>Drift of gyroscopes along the three axes of the navigation coordinate system enu +.>And accelerometer zero offset along navigation coordinate system enu triaxial。
S4 comprises the following steps:
；
wherein,for the next system state +.>Representation->Is abouttFunction of->For system noise->15×15 state transition matrix, +.>The matrix is driven by the system noise of the strapdown inertial navigation system.
S5 comprises the following steps:
；/>；
wherein,and->Position coordinates of the carrier under the navigation coordinate system calculated by the long baseline and the strapdown inertial navigation system respectively, < >>Position coordinates of the carrier in the earth coordinate system determined for a long baseline +.>Representing relative position measurement noise->Position coordinates of the carrier in the earth coordinate system calculated for the strapdown inertial navigation system, < ->For the coordinate transformation matrix from the earth coordinate system to the navigation coordinate system, < >>Is the position coordinates of the carrier in the earth coordinate system.
S6 comprises the following steps:
；
three-dimensional distance measuring matrixThe method comprises the following steps:
；
wherein,is a three-dimensional distance measurement vector with the size of 3 multiplied by 1 #>For measuring noise, the noise is measured by a plurality of +>The composition is 3×1, A is represented as a sitting conversion matrix from an earth coordinate system to an earth rectangular coordinate system, and the size is 3×3 +.>Zero matrix with a size of 3 x 3 is indicated, ">Is 3 x 3,/o>The size of (2) is 3×15.
S6 comprises the following steps:
the three-dimensional velocity measurement equation is:
；
in the method, in the process of the invention,three-dimensional speed output by Doppler velocimeter, +.>The three-dimensional speed is output by the strapdown inertial navigation system;
three-dimensional velocity measurement equationIs that
；
Wherein,is a three-dimensional velocity measurement vector.
Under the condition of the data incompleteness of the long baseline, the underwater positioning and attitude determination of the submarine is carried out by adopting a combined navigation system of a fusion inertial navigation, a Doppler log and a manometer;
under the condition of missing long baseline data, S8 is changed from the original six-dimensional observed quantity to four-dimensional observed quantity, and an observation equation is expressed as follows:
；
thenThe method is changed into that:
；
in the method, in the process of the invention,representing the third column of the a matrix.
When the Doppler log measures the speed underwater, if faults occur or the Doppler log is affected by non-Gaussian noise, the observation vector is changed from six-dimensional observation quantity to three-dimensional observation quantity, and the observation equation is as follows:
；
three-dimensional position resolved for long baseline system, < >>Inertial navigation system for strapdownAnd the three-dimensional position of the system output.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, INS, DVL and LBL are adopted as combined navigation as a basic positioning model, and a multi-model data fusion strategy is adopted to adapt to different data loss conditions, so that the robustness and the accuracy of positioning are improved. When data from a certain sensor is missing, it can switch to another available positioning model to maintain the continuity and accuracy of positioning.
Drawings
FIG. 1 is a northern direction velocity error in an embodiment of the present invention;
FIG. 2 is a mid-east speed error in an embodiment of the present invention;
FIG. 3 is an illustration of the angular velocity error in an embodiment of the present invention;
FIG. 4 is a northern position error in an embodiment of the present invention;
FIG. 5 is a mid-east position error in an embodiment of the present invention;
fig. 6 shows the position error in the sky direction according to the embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The combined navigation method of the submarine craft integrating inertial navigation, doppler log and long base line comprises the following steps:
s1, acquiring original data of an inertial navigation device, a Doppler log, a long baseline and a depth gauge, and performing time alignment on the data from four sensors;
s2, acquiring a carrier three-dimensional position vector and a carrier three-dimensional speed vector;
s3, selecting a northeast geographic coordinate system as a navigation coordinate system, calling the eastern direction as the e direction, calling the northern direction as the n direction, calling the heaven direction as the u direction, and determining the error amount of navigation parameters of the strapdown inertial navigation systemAs state quantity, establishing combined navigation state vector of fusion inertial navigation, doppler log and long base line；
S4, constructing a state equation of the integrated navigation system fusing inertial navigation, a Doppler log and a long base line;
s5, calculating position information of the carrier calculated by the long baseline and the strapdown inertial navigation system under a navigation coordinate system;
s6, constructing a three-dimensional distance measurement equation;
s7, constructing a three-dimensional speed measurement equation by the difference between the three-dimensional speed vector output by the Doppler log and the three-dimensional speed information of the strapdown inertial navigation system;
s8, combining a measurement matrix of three-dimensional position quantity measurement formed by inertial navigation and a long baseline with a measurement matrix of three-dimensional speed quantity measurement formed by inertial navigation and a Doppler log to form a six-dimensional quantity measurement equation of a combined navigation system integrating the inertial navigation, the Doppler log and the long baseline, and performing extended Kalman filtering estimation with a state equation to obtain the motion state of the carrier.
S2 comprises the following steps:
preprocessing long baseline raw data, and if the number of the beacon ranging information is more than or equal to 4, positioning an underwater two-dimensional plane to obtain the two-dimensional plane position of the carrierIf no ranging information exists or the number of ranging information is less than or equal to three, positioning is not performed, and data loss is judged;
filtering the depth data to remove abnormal values and obtain the height information of the carrierPlane coordinates calculated with the long base line form a carrier three-dimensional position vector +.>；
The Doppler log obtains the three-dimensional velocity vector of the carrier。
Is a 15 x 1 state vector comprising three position errors of longitude and latitude and +.>Speed error in northeast-day direction +.>Attitude error angle +.>Drift of gyroscopes along the three axes of the navigation coordinate system enu +.>And accelerometer zero offset along navigation coordinate system enu triaxial。
S4 comprises the following steps:
；
wherein,for the next system state +.>Representation->Is abouttFunction of->For system noise->15X 15State transition matrix->The matrix is driven by the system noise of the strapdown inertial navigation system.
S5 comprises the following steps:
；/>；
wherein,and->Position coordinates of the carrier under the navigation coordinate system calculated by the long baseline and the strapdown inertial navigation system respectively, < >>Position coordinates of the carrier in the earth coordinate system determined for a long baseline +.>Representing relative position measurement noise->Position coordinates of the carrier in the earth coordinate system calculated for the strapdown inertial navigation system, < ->For the coordinate transformation matrix from the earth coordinate system to the navigation coordinate system, < >>Is the position coordinates of the carrier in the earth coordinate system.
S6 comprises the following steps:
；
three-dimensional distance measuring matrixThe method comprises the following steps:
；
wherein,is a three-dimensional distance measurement vector with the size of 3 multiplied by 1 #>For measuring noise, the noise is measured by a plurality of +>The composition is 3×1, A is represented as a sitting conversion matrix from an earth coordinate system to an earth rectangular coordinate system, and the size is 3×3 +.>Zero matrix with a size of 3 x 3 is indicated, ">Is 3 x 3,/o>The size of (2) is 3×15.
S6 comprises the following steps:
the three-dimensional velocity measurement equation is:
；
in the method, in the process of the invention,three-dimensional speed output by Doppler velocimeter, +.>The three-dimensional speed is output by the strapdown inertial navigation system;
three-dimensional velocity measurement equationIs that
；
Wherein,is a three-dimensional velocity measurement vector.
Under the condition of the data incompleteness of the long baseline, the underwater positioning and attitude determination of the submarine is carried out by adopting a combined navigation system of a fusion inertial navigation, a Doppler log and a manometer;
under the condition of missing long baseline data, S8 is changed from the original six-dimensional observed quantity to four-dimensional observed quantity, and an observation equation is expressed as follows:
；
thenThe method is changed into that:
；
in the method, in the process of the invention,representing the third column of the a matrix.
When the Doppler log measures the speed underwater, if faults occur or the Doppler log is affected by non-Gaussian noise, the observation vector is changed from six-dimensional observation quantity to three-dimensional observation quantity, and the observation equation is as follows:
；
three-dimensional position resolved for long baseline system, < >>And outputting the three-dimensional position for the strapdown inertial navigation system.
In the embodiment, the north, east and sky direction speed errors are calculated respectively as shown in fig. 1, 2 and 3, and the north, east and sky direction position errors are calculated respectively as shown in fig. 4, 5 and 6. The error conditions of the above experimental results are shown in table 1.
TABLE 1 experimental error
Referring to the drawings and table 1, it can be seen that the present invention achieves a better root mean square verification result in the experimental results.
The above embodiments are only for illustrating the technical aspects of the present invention, not for limiting the same, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may be modified or some or all of the technical features may be replaced with other technical solutions, which do not depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The integrated navigation method of the submarine craft integrating inertial navigation, doppler log and long base line is characterized by comprising the following steps:
s1, acquiring original data of an inertial navigation device, a Doppler log, a long baseline and a depth gauge, and performing time alignment on the data from four sensors;
s2, acquiring a carrier three-dimensional position vector and a carrier three-dimensional speed vector;
s3, selecting a northeast geographic coordinate system as a navigation coordinate system, namely, the eastern direction is called the e direction, the northern direction is called the n direction, the heaven direction is called the u direction, taking the error quantity of navigation parameters of a strapdown inertial navigation system as a state quantity, and establishing a combined navigation state vector integrating inertial navigation, a Doppler log and a long baseline；
S4, constructing a state equation of the integrated navigation system fusing inertial navigation, a Doppler log and a long base line;
s5, calculating position information of the carrier calculated by the long baseline and the strapdown inertial navigation system under a navigation coordinate system;
s6, constructing a three-dimensional distance measurement equation;
s7, constructing a three-dimensional speed measurement equation by the difference between the three-dimensional speed vector output by the Doppler log and the three-dimensional speed information of the strapdown inertial navigation system;
s8, combining a measurement matrix of three-dimensional position quantity measurement formed by inertial navigation and a long baseline with a measurement matrix of three-dimensional speed quantity measurement formed by inertial navigation and a Doppler log to form a six-dimensional quantity measurement equation of a combined navigation system integrating the inertial navigation, the Doppler log and the long baseline, and performing extended Kalman filtering estimation with a state equation to obtain the motion state of the carrier.
2. The integrated navigation method of a fusion inertial navigation, doppler log and long baseline submarine according to claim 1, wherein S2 comprises:
preprocessing long baseline raw data, and if the number of the beacon ranging information is more than or equal to 4, positioning an underwater two-dimensional plane to obtain the two-dimensional plane position of the carrierIf no ranging information exists or the number of ranging information is less than or equal to three, positioning is not performed, and data loss is judged;
filtering the depth data to remove abnormal values and obtain the height information of the carrierPlane coordinates calculated with the long base line form a carrier three-dimensional position vector +.>；
Doppler meterThe distance meter obtains the three-dimensional speed vector of the carrier。
3. The integrated navigation method of a fusion inertial navigation, doppler log and long baseline submarine according to claim 2,is a 15 x 1 state vector comprising three position errors of longitude and latitude and +.>Speed error in northeast-day direction +.>Attitude error angle +.>Drift of gyroscopes along the three axes of the navigation coordinate system enu +.>And accelerometer zero offset along navigation coordinate system enu triaxial。
4. A method of integrated navigation of a fusion inertial navigation, doppler log and long baseline submarine according to claim 3, wherein S4 comprises:
；
wherein,for the next system state +.>Representation->Is abouttFunction of->For system noise->15×15 state transition matrix, +.>The matrix is driven by the system noise of the strapdown inertial navigation system.
5. The integrated navigation method of a fusion inertial navigation, doppler log and long baseline submarine according to claim 4, wherein S5 comprises:
；/>；
wherein,and->Position coordinates of the carrier under the navigation coordinate system calculated by the long baseline and the strapdown inertial navigation system respectively, < >>Position coordinates of the carrier in the earth coordinate system determined for a long baseline +.>Representing relative position measurement noise->Position coordinates of the carrier in the earth coordinate system calculated for the strapdown inertial navigation system, < ->For the coordinate transformation matrix from the earth coordinate system to the navigation coordinate system, < >>Is the position coordinates of the carrier in the earth coordinate system.
6. The integrated navigation method of a fusion inertial navigation, doppler log and long baseline submarine according to claim 5, wherein S6 comprises:
；
three-dimensional distance measuring matrixThe method comprises the following steps:
；
wherein,is a three-dimensional distance measurement vector with the size of 3 multiplied by 1 #>For measuring noise, the noise is measured by a plurality of +>The composition is 3 multiplied by 1, A is expressed as a sitting conversion matrix from an earth coordinate system to an earth rectangular coordinate system,the size is 3×3,/o>Zero matrix with a size of 3 x 3 is indicated, ">Is 3 x 3,/o>The size of (2) is 3×15.
7. The integrated navigation method of a fusion inertial navigation, doppler log and long baseline submarine according to claim 6, wherein S6 comprises:
the three-dimensional velocity measurement equation is:
；
in the method, in the process of the invention,three-dimensional speed output by Doppler velocimeter, +.>The three-dimensional speed is output by the strapdown inertial navigation system;
three-dimensional velocity measurement equationIs that
；
Wherein,is a three-dimensional velocity measurement vector.
8. The integrated navigation method of the integrated inertial navigation, the Doppler log and the long baseline of the underwater vehicle according to claim 7, wherein under the condition of incomplete data of the long baseline, the integrated navigation system of the integrated inertial navigation, the Doppler log and the pressure gauge is adopted for underwater positioning and attitude determination of the underwater vehicle;
under the condition of missing long baseline data, S8 is changed from the original six-dimensional observed quantity to four-dimensional observed quantity, and an observation equation is expressed as follows:
；
thenThe method is changed into that:
；
in the method, in the process of the invention,representing the third column of the a matrix.
9. The integrated navigation method of fusion inertial navigation, doppler log and long baseline of claim 8, wherein when the doppler log is measuring speed underwater, if the doppler log fails or is affected by non-gaussian noise, the observation vector is changed from six-dimensional observation volume to three-dimensional observation volume, and the observation equation is:
；
three-dimensional position resolved for long baseline system, < >>And outputting the three-dimensional position for the strapdown inertial navigation system.
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