WO2020062791A1 - 一种深海潜航器的sins/dvl水下抗晃动对准方法 - Google Patents
一种深海潜航器的sins/dvl水下抗晃动对准方法 Download PDFInfo
- Publication number
- WO2020062791A1 WO2020062791A1 PCT/CN2019/077888 CN2019077888W WO2020062791A1 WO 2020062791 A1 WO2020062791 A1 WO 2020062791A1 CN 2019077888 W CN2019077888 W CN 2019077888W WO 2020062791 A1 WO2020062791 A1 WO 2020062791A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- error
- sins
- navigation system
- dvl
- underwater
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 239000011159 matrix material Substances 0.000 claims abstract description 53
- 239000013598 vector Substances 0.000 claims abstract description 42
- 230000003044 adaptive effect Effects 0.000 claims abstract description 21
- 238000000354 decomposition reaction Methods 0.000 claims abstract description 18
- 230000008569 process Effects 0.000 claims abstract description 13
- 230000005484 gravity Effects 0.000 claims description 26
- 238000005259 measurement Methods 0.000 claims description 18
- 238000001914 filtration Methods 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 6
- 230000009977 dual effect Effects 0.000 claims description 5
- 230000003595 spectral effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000007774 longterm Effects 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- 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
Definitions
- the invention relates to a SINS / DVL underwater anti-shake alignment method for a deep-sea submarine, and belongs to the field of navigation technology.
- the ocean is rich in resources and energy.
- deep-sea submarines play an important role in many aspects, such as monitoring the marine environment and identifying underwater targets.
- the unique driving and motion performance of deep-sea submersibles makes it a great performance advantage compared to other unmanned underwater vehicles.
- large-depth, long-distance, long-term underwater navigation requires high accuracy for initial alignment.
- the complicated underwater currents and the possibility of impacts from fish schools can cause shaking of the base.
- the initial alignment speed and accuracy of the deep-sea submersibles are reduced, which makes the submersibles inertial navigation
- the cumulative error of the positioning solution is further increased.
- the inertial linearity error model cannot guarantee the accuracy of the filtering. Therefore, a more accurate non-linear error model and a non-linear filter are considered to complete the precise alignment process of the underwater DVL assisted inertial guidance. .
- the purpose of the present invention is to provide a SINS (Stripdown Inertial Navigation System) / DVL (Doppler Velocimeter) underwater anti-shake alignment method for deep-sea submersibles.
- Alignment and SINS / DVL SVD (Singular Value) Decomposition-based Fuzzy Adaptive Robust CKF (Volume Kalman Filter) Filter Alignment (Fine Alignment)
- a SINS / DVL underwater anti-shake alignment method for a deep-sea submarine includes the following steps:
- the specific methods of the angular non-linear error model and the fine alignment filter equation are:
- the speed and attitude angle errors are defined as:
- ⁇ n is the projection of the true speed of the submarine in the n system
- ⁇ b is the constant error of the gyroscope in the carrier system, Is the constant error of the accelerometer under the carrier system;
- R E is the radius of the ⁇ circle, and R N is the radius of the meridian circle;
- the scale factor error ⁇ C is described by a random constant, and the ground speed error error ⁇ d and the drift angle error ⁇ are described by a first-order Markov process.
- ⁇ d and ⁇ ⁇ are the time related to the speed deviation error and the drift angle error, respectively.
- W d and w ⁇ are zero-mean Gaussian white noises of the speed deviation error and the deviation angle error, respectively;
- the Euler angle eastward, northward, and skyward platform error angles of the submersible are:
- the east, north and sky constant errors of the gyro sensor are
- the east and north constant errors of the accelerometer sensor are ⁇ d is the ground speed error of the underwater DVL navigation system, ⁇ is the drift angle error of the underwater DVL navigation system, and ⁇ C is the scale factor error of the underwater DVL navigation system, which becomes a 15-dimensional state variable:
- the difference between the SINS solution speed and the DVL measurement speed is selected as the nonlinear filtering observation variable of the SINS / DVL navigation system:
- ⁇ SINSe and ⁇ SINSn are the navigation solution speeds of the strapdown inertial navigation system ⁇ SINS projections in the east and north directions of the navigation system, and ⁇ e and ⁇ n are the navigation solution speed errors of the strapdown inertial navigation system ⁇ respectively.
- ⁇ de and ⁇ dn are the projections of the navigation solution speed ⁇ d of the four-beam underwater Doppler navigation system in the east and north directions of the navigation system.
- ⁇ de and ⁇ dn are respectively The projection of the navigation solution speed error ⁇ d of the four-beam underwater Doppler navigation system in the east and north directions of the navigation system.
- the underwater anti-shake alignment method for a deep-sea submersible includes the following steps:
- the components of the integral of the gravity vector in the time period of 0-t 1 and 0-t 2 under the navigation system can be calculated by the above formula.
- the underwater anti-sloshing alignment method for a deep-sea submersible vehicle includes the following steps:
- k is the filtering time
- U j, k-1 is the unitary matrix decomposed by SVD at k-1
- Q k-1 is the process noise matrix of the navigation system at k-1;
- K k P xz, k / P zz, k
- ⁇ is the threshold value of the H ⁇ suboptimal solution, which is related to the robust performance of the filter.
- the sufficient and necessary conditions for the existence of a solution of the H ⁇ suboptimal problem can be given by Riccatiinequality:
- the threshold ⁇ fuzzy adaptive algorithm is as follows:
- the fuzzy adaptive factor ⁇ update formula of the threshold ⁇ is constructed as:
- Trace (P xz, k ) is a trace operation, that is, the sum of the diagonal elements of the matrix.
- the invention can overcome the problem that the speed and accuracy of the fixed position caused by the conventional inertial navigation alignment algorithm during the initial alignment of the deep sea submersible under the condition of shaking the base and the large misalignment angle are such that the submersible cannot continue to work normally. Achieve long-hour operation of deep sea submersibles.
- FIG. 1 is a schematic diagram of a deep-sea submersible navigation system according to an embodiment of the present invention.
- FIG. 2 is a specific underwater initial alignment flowchart according to an embodiment of the present invention.
- FIGS. 1 and 2 are a scheme diagram of a deep-sea submersible navigation system and a specific underwater initial alignment flowchart disclosed in the present invention.
- n system select the navigation coordinate system calculated by the SINS / DVL navigation system as the navigation calculation coordinate system as the n ′ system, and select the upper right front coordinate system of the submarine cabin as the carrier coordinate Line (b line).
- the speed and attitude angle errors are defined as:
- ⁇ n is the projection of the true speed of the submarine in the n system
- Projection of the strapdown inertial navigation system's navigation solution speed in the n system Is the component of the speed error ⁇ n in the northeast sky direction
- For the projection of the true attitude angle of the submarine in the n series Solving the projection of the attitude angle of the strapdown inertial navigation system under n system Attitude angle error The weight in the northeast direction.
- the large-angle non-linear error model of the combined system is divided into: SINS nonlinear error model and DVL linear error model.
- Attitude matrix between n and n ′ systems under shaking base Cannot be ignored.
- Is the earth's rotation angular velocity Is the rotational angular velocity of the navigation system relative to the Earth system
- Is the rotational angular velocity of the navigation system relative to the inertial system Is the corresponding amount of error.
- ⁇ b is the constant error of the gyroscope in the carrier system
- Is the constant error of the accelerometer under the carrier system R N is the radius of the ⁇ circle
- R E is the radius of the meridian circle.
- They are the attitude matrix of the navigation system and the computing system, and the inverse matrix of the Euler angle differential coefficient matrix.
- the specific matrix forms are as follows:
- FIG. 3 it is a schematic diagram of a ship with a four-beam DVL Janus configuration.
- the four-beam Jenner configuration refers to transmitting an acoustic beam obliquely toward the bow, bow, and starboard sides.Due to the symmetry of the four beams, when the cabin of a deep-sea submersible has up and down, left and right fluctuations (rolling) , Pitch) can improve the accuracy of lateral and vertical speed measurement.
- the four-beam DVL speed measurement expression is:
- c is the speed at which ultrasonic waves propagate in seawater, which is regarded as a constant value.
- f 0 is the ultrasonic frequency
- f d13 and f d24 are the Doppler frequency shifts of the longitudinal x and lateral y.
- ⁇ is the tilt angle of the ultrasonic beam.
- the cabin deflection angle can be calculated:
- ⁇ d is the actual ground speed of the underwater DVL navigation system
- ⁇ d is the ground speed error of the underwater DVL navigation system
- K d is the track direction of the uncompensated drift angle ⁇ of the underwater DVL navigation system
- ⁇ is Deviation angle error of underwater DVL navigation system
- ⁇ C is the scale factor error of underwater DVL navigation system
- Unaligned misalignment angle of the underwater DVL navigation system Unaligned misalignment angle of the underwater DVL navigation system.
- the scale factor ⁇ C is described by a random constant
- the errors ⁇ d and ⁇ are described by a first-order Markov process
- ⁇ d and ⁇ ⁇ are the correlation times of the velocity offset error and the drift angle error, respectively.
- w d and w ⁇ are zero-mean Gaussian white noises of speed deviation error and bias angle error. error.
- the nonlinear filtering state equation of the SINS / DVL navigation system can be abbreviated as:
- the difference between the SINS solution speed and the DVL measurement speed is selected as the nonlinear filtering observation variable of the SINS / DVL navigation system:
- ⁇ SINSe and ⁇ SINSn are the navigation solution speeds of the strapdown inertial navigation system ⁇ SINS projections in the east and north directions of the navigation system, and ⁇ e and ⁇ n are the navigation solution speed errors of the strapdown inertial navigation system.
- East and North projections, ⁇ de and ⁇ dn are projections of the navigation solution speed of the four-beam underwater Doppler navigation system ⁇ d in the east and north directions of the navigation system, and ⁇ de and ⁇ dn are four-beam underwater The projection speed error ⁇ d of the navigation solution of the Doppler navigation system in the east and north directions of the navigation system
- the non-linear filtering measurement equation of SINS / DVL navigation system can be abbreviated as:
- the DSP uses the received fiber-optic inertial guidance three-axis gyroscope and accelerometer signals to perform SINS anti-shake dual vector fixed-position self-alignment (coarse alignment).
- the interference angular velocity caused by the large-scale shaking under the shaking base is large, and the signal-to-noise of the fiber-optic gyro output is relatively small.
- the interference acceleration in the gyro output and the earth's rotation angular velocity ⁇ ie cannot be separated, so that the posture cannot be completed by traditional analytical coarse alignment matrix A rough estimate.
- the earth's rotation angular velocity ⁇ ie is a fixed value.
- Is the component of the gravity vector in the navigation system Is the component of the gravity vector in the navigation system.
- the component of the integral of the gravity vector in the time period of 0-t 1 and 0-t 2 in the navigation system can be calculated by the above formula.
- DSP uses the received optical fiber inertial navigation three-axis gyroscope, accelerometer signals, and four-beam underwater Doppler velocimeter speed signals to perform SINS / DVL fuzzy adaptive robust CKF filter alignment based on SVD decomposition (Fine alignment).
- DVL speed signals should be used to assist inertial navigation, and then based on the nonlinear error model and fine alignment filter equation established in step 1), SVD decomposition of CKF filtering to complete the fine alignment process and further improve the attitude matrix The accuracy.
- the process of fuzzy adaptive robust CKF filter based on SVD decomposition is as follows:
- K k P xz, k / P zz, k
- ⁇ is the threshold of H ⁇ suboptimal solution, which is related to the robust performance of the filter. If the threshold ⁇ can be adaptive to different water environments, the attitude matrix can be made on the basis of ensuring robustness More accurate, to achieve a quasi-determined attitude of deep-sea submersibles.
- the threshold ⁇ fuzzy adaptive algorithm is as follows:
- ⁇ represents the spectral radius of the matrix.
- ⁇ is the fuzzy adaptive factor.
- the influence of system uncertainty will cause abnormal observations, which will cause the filter to malfunction. Such aberrations cause changes in the statistical characteristics of the innovation sequence.
- Trace (P xz, k ) is a trace operation, that is, the sum of the diagonal elements of the matrix.
Abstract
Description
Claims (3)
- 一种深海潜航器的SINS/DVL水下抗晃动对准方法,其特征在于:该方法包括如下步骤:(1)根据水下复杂环境和捷联惯导、四波束水下多普勒导航系统特点所建立的大失准角非线性误差模型以及精对准滤波方程,将深海潜航器的水下对准过程分为:SINS抗晃动双矢量定姿自对准和SINS/DVL的基于SVD分解的模糊自适应鲁棒CKF滤波器对准;(2)SINS抗晃动双矢量定姿自对准在选定重力矢量为主参考矢量的前提下,预先对参与姿态解算的矢量作单位正交化处理;
- 根据权利要求1所述的深海潜航器的水下抗晃动对准方法,其特征在于:步骤(1)中所述的根据水下复杂环境和捷联惯导、四波束水下多普勒导航系统特点所建立的大失准角非线性误差模型以及精对准滤波方程的具体方法是:选取东北天地理坐标系作为导航坐标系,记为n系,选取SINS/DVL导航系统解算的导航坐标系作为计算坐标系为n′系,选取潜航器舱体的右前上坐标系作为载体坐标系,记为b系,定义速度和姿态角误差为:其中,ν n为潜航器的真实速度在n系下的投影,1)建立SINS非线性误差模型:SINS速度误差方程:SINS姿态误差方程:SINS位置误差方程:R E为卯酉圈半径,R N为子午圈半径;2)建立DVL线性误差模型:其中,刻度因数误差δC用随机常数描述,对地速度误差误差δν d、偏流角误差δΔ用一阶马尔可夫过程描述,τ d、τ Δ分别为速度偏移误差和偏流角误差的相关时间,w d、w Δ分别为速度偏移误差和偏流角误差的零均值高斯白噪声;3)建立精对准滤波方程:由于SINS/DVL组合系统的天向通道发散,因此忽略天向通道状态量,从而选取潜航器的纬度位置误差δL、经度位置误差δλ,潜航器的东向速度误差δν e、北向速度误差δν n,潜航器的欧拉角东向、北向、天向平台误差角分别为 陀螺仪传感器的东向、北向、天向常值误差分别为 加速度计传感器的东向、北向常值误差分别为 δν d为水下DVL导航系统的对地速度误差,δΔ为水下DVL导航系统的偏流角误差,δC为水下DVL导航系统的刻度因数误差,成为15维状态变量:SINS/DVL非线性滤波状态方程为:SINS/DVL导航系统的非线性滤波状态方程简记为:同时,选取SINS解算速度和DVL测量速度之差作为SINS/DVL导航系统的非线性滤波观测变量:其中,ν SINSe、ν SINSn分别为捷联惯导系统的导航解算速度ν SINS在导航系东向和北向的投影,δν e、δν n分别为捷联惯导系统的导航解算速度误差δν在导航系东向和北向的投影,ν de、ν dn分别为四波束水下多普勒导航系统的导航解算速度ν d在导航系东向和北向的投影,δν de、δν dn分别为四波束水下多普勒导航系统的导航解算速度误差δν d在导航系东向和北向的投影。SINS/DVL导航系统的非线性滤波量测方程简记为:Z=h(X,t)+v(t)。所述的深海潜航器的水下抗晃动对准方法,步骤(1)中所述的SINS抗晃动双矢量定姿自对准,包括以下步骤:0-t时间段内重力在导航系(n系)积分为:0-t时间段内重力在载体系(b系)下的积分为:
- 根据权利要求1所述的深海潜航器的水下抗晃动对准方法,其特征在于:所述的深海潜航器的水下抗晃动对准方法,步骤(1)中所述的SINS/DVL的基于SVD分解的模糊自适应鲁棒CKF滤波器对准,包括以下步骤:1)计算基本容积点和相应权值:式中,m表示容积点总数(m=2num),num为CKF滤波器的状态维数,[1]表示对num维单位向量e=[1,0,..,0] T的全排列和改变元素符号产生的点集;2)时间更新:①基于SVD分解计算容积点X j,k-1其中,k为滤波时刻,U j,k-1为k-1时刻SVD分解出的酉阵,s j(j=1,2,..,num)为k-1时刻滤波器输出的最优滤波估计协方差P k-1|k-1的特征值的平方根, 为k-1时刻滤波器输出的最优状态估计;其中Q k-1为k-1时刻的导航系统过程噪声矩阵;3)量测更新:①基于SVD分解计算容积点X j,k|k-1②通过根据权利2所述的非线性量测方程计算传播容积点Z j,kZ j,k=h(X j,k|k-1,t)K k=P xz,k/P zz,k为在晃动基座下,使精对准过程具有一定鲁棒性,基于H∞滤波器的相关原理,对传统CKF的最优估计协方差进行改写:其中,γ为H∞次优解的阈值,与滤波器的鲁棒性能有关,H∞次优问题存在解的充分必要条件可由黎卡提不等式(Riccati inequality)给出:阈值γ模糊自适应算法如下:γ=η·γ a从新息序列的统计特性的变化入手,构造出了阈值γ的模糊自适应因子η更新式为:
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811144284.6 | 2018-09-28 | ||
CN201811144284.6A CN109443379B (zh) | 2018-09-28 | 2018-09-28 | 一种深海潜航器的sins/dvl水下抗晃动对准方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020062791A1 true WO2020062791A1 (zh) | 2020-04-02 |
Family
ID=65544787
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2019/077888 WO2020062791A1 (zh) | 2018-09-28 | 2019-03-12 | 一种深海潜航器的sins/dvl水下抗晃动对准方法 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN109443379B (zh) |
WO (1) | WO2020062791A1 (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111504324A (zh) * | 2020-04-27 | 2020-08-07 | 西北工业大学 | 一种噪声自适应滤波的水下组合导航方法 |
CN112747770A (zh) * | 2020-12-16 | 2021-05-04 | 中国船舶重工集团有限公司第七一0研究所 | 一种基于速度量测的载体机动中初始对准方法 |
CN112985368A (zh) * | 2021-02-09 | 2021-06-18 | 西北工业大学 | 水下航行器在移动运载平台发射前的快速罗经对准方法 |
CN114777812A (zh) * | 2022-04-17 | 2022-07-22 | 中国人民解放军国防科技大学 | 一种水下组合导航系统行进间对准与姿态估计方法 |
Families Citing this family (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109443379B (zh) * | 2018-09-28 | 2020-07-21 | 东南大学 | 一种深海潜航器的sins/dvl水下抗晃动对准方法 |
CN109974695B (zh) * | 2019-04-09 | 2022-08-26 | 东南大学 | 基于Krein空间的水面舰艇导航系统的鲁棒自适应滤波方法 |
CN110057383B (zh) * | 2019-05-05 | 2023-01-03 | 哈尔滨工程大学 | 一种auv推位导航系统杆臂误差标校方法 |
CN111912427B (zh) * | 2019-05-10 | 2022-03-01 | 中国人民解放军火箭军工程大学 | 一种多普勒雷达辅助捷联惯导运动基座对准方法及系统 |
CN110146076B (zh) * | 2019-06-06 | 2023-04-18 | 哈尔滨工业大学(威海) | 一种无逆矩阵自适应滤波的sins/dvl组合定位方法 |
CN110567490B (zh) * | 2019-08-29 | 2022-02-18 | 桂林电子科技大学 | 一种大失准角下sins初始对准方法 |
CN110514203B (zh) * | 2019-08-30 | 2022-06-28 | 东南大学 | 一种基于isr-ukf的水下组合导航方法 |
CN110940340A (zh) * | 2019-12-23 | 2020-03-31 | 中科探海(苏州)海洋科技有限责任公司 | 基于小型uuv平台的多传感器信息融合方法 |
CN111141281A (zh) * | 2020-01-03 | 2020-05-12 | 中国船舶重工集团公司第七0七研究所 | 一种sins/dvl组合导航数据后处理误差估计方法 |
CN111397603B (zh) * | 2020-04-24 | 2022-07-12 | 东南大学 | 载体姿态动态情况下的惯性/多普勒动基座粗对准方法 |
CN111750865B (zh) * | 2020-07-04 | 2023-05-16 | 东南大学 | 一种用于双功能深海无人潜器导航系统的自适应滤波导航方法 |
CN112254718B (zh) * | 2020-08-04 | 2024-04-09 | 东南大学 | 一种运动约束辅助的基于改进Sage-Husa自适应滤波的水下组合导航方法 |
CN111854747B (zh) * | 2020-08-25 | 2022-08-12 | 东南大学 | 一种载体大机动情况下的dvl辅助sins粗对准方法 |
CN112284384B (zh) * | 2020-10-26 | 2023-11-17 | 东南大学 | 考虑量测异常的集群式多深海潜航器的协同定位方法 |
CN112507281B (zh) * | 2020-11-19 | 2024-01-02 | 东南大学 | 一种基于双状态多因子抗差估计sins/dvl紧组合系统的方法 |
CN112525218B (zh) * | 2020-11-23 | 2023-01-03 | 哈尔滨工程大学 | 一种ins/dvl组合导航系统鲁棒智能协同校准方法 |
CN112684207B (zh) * | 2020-12-17 | 2022-03-11 | 东南大学 | 一种深潜载人潜水器adcp速度估计与修正算法 |
CN112683271B (zh) * | 2020-12-17 | 2023-10-27 | 东南大学 | 一种考虑可观测性的水域观测平台的组合定位方法 |
CN112798016A (zh) * | 2020-12-22 | 2021-05-14 | 中国航天空气动力技术研究院 | 一种基于sins与dvl组合的auv行进间快速初始对准方法 |
CN112747748A (zh) * | 2020-12-22 | 2021-05-04 | 中国航天空气动力技术研究院 | 一种基于逆向解算的领航auv导航数据后处理方法 |
CN112729291B (zh) * | 2020-12-29 | 2022-03-04 | 东南大学 | 一种深潜长航潜水器sins/dvl洋流速度估计方法 |
CN114485723B (zh) * | 2021-02-08 | 2024-02-27 | 北京理工大学 | 一种自适应鲁棒矩阵卡尔曼滤波的高旋体空中对准方法 |
CN113503892B (zh) * | 2021-04-25 | 2024-03-01 | 中船航海科技有限责任公司 | 一种基于里程计和回溯导航的惯导系统动基座初始对准方法 |
CN113218421B (zh) * | 2021-05-11 | 2023-07-04 | 中国人民解放军63921部队 | 北斗拒止条件下捷联惯导系统鲁棒自适应动态对准方法 |
CN114459476B (zh) * | 2022-03-09 | 2024-03-01 | 东南大学 | 基于虚拟速度量测的水下无人潜航器测流dvl/sins组合导航方法 |
CN115031724A (zh) * | 2022-03-21 | 2022-09-09 | 哈尔滨工程大学 | Sins/dvl紧组合系统dvl波束故障处理方法 |
CN115031727B (zh) * | 2022-03-31 | 2023-06-20 | 哈尔滨工程大学 | 一种基于状态变换的多普勒辅助捷联惯导系统初始对准方法 |
CN115060274B (zh) * | 2022-08-17 | 2022-11-18 | 南开大学 | 一种水下一体式自主导航装置及其初始对准方法 |
CN116295511B (zh) * | 2022-12-16 | 2024-04-02 | 南京安透可智能系统有限公司 | 一种用于管道潜航机器人的鲁棒初始对准方法及系统 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103245360A (zh) * | 2013-04-24 | 2013-08-14 | 北京工业大学 | 晃动基座下的舰载机旋转式捷联惯导系统自对准方法 |
CN103471616A (zh) * | 2013-09-04 | 2013-12-25 | 哈尔滨工程大学 | 一种动基座sins大方位失准角条件下初始对准方法 |
CN105806363A (zh) * | 2015-11-16 | 2016-07-27 | 东南大学 | 基于srqkf的sins/dvl水下大失准角对准方法 |
CN107990910A (zh) * | 2017-11-06 | 2018-05-04 | 哈尔滨工业大学 | 一种基于容积卡尔曼滤波的舰船大方位失准角传递对准方法 |
CN109443379A (zh) * | 2018-09-28 | 2019-03-08 | 东南大学 | 一种深海潜航器的sins/dvl水下抗晃动对准方法 |
-
2018
- 2018-09-28 CN CN201811144284.6A patent/CN109443379B/zh active Active
-
2019
- 2019-03-12 WO PCT/CN2019/077888 patent/WO2020062791A1/zh active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103245360A (zh) * | 2013-04-24 | 2013-08-14 | 北京工业大学 | 晃动基座下的舰载机旋转式捷联惯导系统自对准方法 |
CN103471616A (zh) * | 2013-09-04 | 2013-12-25 | 哈尔滨工程大学 | 一种动基座sins大方位失准角条件下初始对准方法 |
CN105806363A (zh) * | 2015-11-16 | 2016-07-27 | 东南大学 | 基于srqkf的sins/dvl水下大失准角对准方法 |
CN107990910A (zh) * | 2017-11-06 | 2018-05-04 | 哈尔滨工业大学 | 一种基于容积卡尔曼滤波的舰船大方位失准角传递对准方法 |
CN109443379A (zh) * | 2018-09-28 | 2019-03-08 | 东南大学 | 一种深海潜航器的sins/dvl水下抗晃动对准方法 |
Non-Patent Citations (1)
Title |
---|
LIANG, XINYU ET AL.: "H? Robust Adaptive CKF Algorithm Used in GNSS/INS Integrated Navigation", COMPUTER ENGINEERING AND APPLICATIONS, vol. 54, no. 8, 14 September 2017 (2017-09-14), ISSN: 1002-8331 * |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111504324A (zh) * | 2020-04-27 | 2020-08-07 | 西北工业大学 | 一种噪声自适应滤波的水下组合导航方法 |
CN111504324B (zh) * | 2020-04-27 | 2022-07-26 | 西北工业大学 | 一种噪声自适应滤波的水下组合导航方法 |
CN112747770A (zh) * | 2020-12-16 | 2021-05-04 | 中国船舶重工集团有限公司第七一0研究所 | 一种基于速度量测的载体机动中初始对准方法 |
CN112985368A (zh) * | 2021-02-09 | 2021-06-18 | 西北工业大学 | 水下航行器在移动运载平台发射前的快速罗经对准方法 |
CN112985368B (zh) * | 2021-02-09 | 2022-10-14 | 西北工业大学 | 水下航行器在移动运载平台发射前的快速罗经对准方法 |
CN114777812A (zh) * | 2022-04-17 | 2022-07-22 | 中国人民解放军国防科技大学 | 一种水下组合导航系统行进间对准与姿态估计方法 |
CN114777812B (zh) * | 2022-04-17 | 2024-04-05 | 中国人民解放军国防科技大学 | 一种水下组合导航系统行进间对准与姿态估计方法 |
Also Published As
Publication number | Publication date |
---|---|
CN109443379B (zh) | 2020-07-21 |
CN109443379A (zh) | 2019-03-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2020062791A1 (zh) | 一种深海潜航器的sins/dvl水下抗晃动对准方法 | |
US20220404152A1 (en) | Motion constraint-aided underwater integrated navigation method employing improved sage-husa adaptive filtering | |
CN109324330B (zh) | 基于混合无导数扩展卡尔曼滤波的usbl/sins紧组合导航定位方法 | |
CN112097763B (zh) | 一种基于mems imu/磁力计/dvl组合的水下运载体组合导航方法 | |
Li et al. | A fast SINS initial alignment scheme for underwater vehicle applications | |
Huang et al. | A new fast in-motion coarse alignment method for GPS-aided low-cost SINS | |
WO2020062807A1 (zh) | 改进的无迹卡尔曼滤波算法在水下组合导航中的应用方法 | |
CN106643709B (zh) | 一种海上运载体的组合导航方法及装置 | |
CN104316045A (zh) | 一种基于sins/lbl的auv水下交互辅助定位系统及定位方法 | |
CN111829512B (zh) | 一种基于多传感器数据融合的auv导航定位方法及系统 | |
CN105486313A (zh) | 一种基于usbl辅助低成本sins系统的定位方法 | |
CN106895853B (zh) | 一种电磁计程仪辅助船用陀螺罗经行进间对准方法 | |
CN103454662B (zh) | 一种基于ckf的sins/北斗/dvl组合对准方法 | |
Xue et al. | In-motion alignment algorithm for vehicle carried SINS based on odometer aiding | |
CN112556697A (zh) | 一种基于联邦结构的浅耦合数据融合导航方法 | |
CN112747748A (zh) | 一种基于逆向解算的领航auv导航数据后处理方法 | |
CN110133695A (zh) | 一种双天线gnss位置延迟时间动态估计系统及方法 | |
CN104061930A (zh) | 基于捷联惯性制导和多普勒计程仪的导航方法 | |
Pei et al. | Initial self-alignment for marine rotary SINS using novel adaptive Kalman filter | |
Dukan et al. | Integration filter for APS, DVL, IMU and pressure gauge for underwater vehicles | |
CN113108781B (zh) | 一种应用于无人船行进间的改进粗对准方法 | |
Allotta et al. | Localization algorithm for a fleet of three AUVs by INS, DVL and range measurements | |
CN110873813B (zh) | 一种水流速度估算方法、组合导航方法及装置 | |
Liu et al. | Velocity-aided in-motion alignment for SINS based on pseudo-Earth frame | |
CN103616026A (zh) | 一种基于h∞滤波的auv操纵模型辅助捷联惯导组合导航方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 19867006 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 19867006 Country of ref document: EP Kind code of ref document: A1 |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 19867006 Country of ref document: EP Kind code of ref document: A1 |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205 DATED 10-05-2023) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 19867006 Country of ref document: EP Kind code of ref document: A1 |