DVL/SINS松紧组合的等价性分析及改进的虚拟波束辅助紧组合算法

doi:10.12305/j.issn.1001-506X.2024.06.29

摘要/Abstract

摘要：

系统地研究了不同波束可用情况下的多普勒计程仪(Doppler velocity logger, DVL)/捷联惯性导航系统(strapdown inertial navigation system, SINS)紧组合导航算法。证明了3个或4个波束可用情况下, DVL/SINS波束域紧组合的定位精度与三维速度松组合系统具有等价性, 并给出了松组合中量测协方差阵的确定方法。针对紧组合系统定位精度随可用波束减少而降低的问题, 考虑DVL的误差参数, 基于载体运动约束和压力深度计提出一种改进的虚拟波束辅助紧组合算法。实验结果表明, 3个或4个波束可用时的松组合与紧组合的定位精度等价; 改进的虚拟波束辅助紧组合算法可以准确跟踪故障的波束速度, 有效提升了不同波束可用情况下紧组合的定位精度。

关键词: 多普勒计程仪, 捷联惯性导航系统, 组合导航, 等价性分析, 虚拟波束构建

Abstract:

This paper systematically studies the Doppler velocity logger (DVL)/strapdown inertial navigation system (SINS) tightly coupled navigation system with different available beams. It is demonstrated that the positioning accuracy of tightly coupled system for DVL/SINS beam domain is equivalent to the 3D velocity-aided loosely coupled system when three or four beams are available, and the determination method of measurement covariance matrix in loosely coupled system is given. To address the problem that the positioning accuracy of tightly coupled system decreases with the reduction of available beams, considering the error parameters of DVL, an improved virtual beam-aided tightly coupled algorithm is proposed based on the motion constraint and pressure sensor (PS) measurements. Experimental results show that the loosely and tightly coupled systems have equivalent positioning accuracy when three or four beams are available, and the improved virtual beam-aided tightly coupled system can accurately track the velocity of outage beams, which effectively improves the positioning accuracy of tightly coupled system when different beams are available.

Key words: Doppler velocity logger (DVL), strapdown inertial navigation system (SINS), integrated navigation, equivalence analysis, virtual beam construction

中图分类号:

TN967.2

靳凯迪, 柴洪洲, 宿楚涵. DVL/SINS松紧组合的等价性分析及改进的虚拟波束辅助紧组合算法[J]. 系统工程与电子技术, 2024, 46(6): 2107-2116.

Kaidi JIN, Hongzhou CHAI, Chuhan SU. Equivalence analysis between DVL/SINS loosely and tightly coupled systems and improved virtual beam-aided tightly coupled algorithm[J]. Systems Engineering and Electronics, 2024, 46(6): 2107-2116.

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传感器	参数	数值
IMU	采样频率/Hz	100
	陀螺零偏稳定性/((°)/h)	≤0.05
	角度随机游走/((°)/$\sqrt {\rm{h}} $)	0.02
	加速度计零偏稳定性/μg	≤300
	速度随机游走/(μg/$\sqrt {{\rm{Hz}}} $)	≤100
DVL	采样频率/Hz	1
	长期精度/(cm/s)	±0.1%±0.1
	单ping标准差/(cm/s)	0.5
GNSS	采样频率/Hz	1

波束故障	波束1	波束2	波束3	波束4
情况1	√	√	√	×
情况2	√	√	×	×
情况3	√	×	×	×

虚拟波束		误差均值/(m/s)		RMSE/(m/s)
虚拟波束		SINS-TC	NHC-PS-TC	SINS-TC	NHC-PS-TC
情况1	波束4	0	0	0	0
情况2	波束3	-0.040	-0.011	0.052	0.020
情况2	波束4	-0.040	-0.011	0.052	0.020
情况3	波束2	0.048	-0.026	0.102	0.040
	波束3	-0.047	-0.035	0.062	0.043
	波束4	-0.095	-0.010	0.132	0.022

可用波束数量	最大定位误差/m			RMSE/m
可用波束数量	TC	SINS-TC	NHC-PS-TC	TC	SINS-TC	NHC-PS-TC
单波束	43.491	69.608	13.442	26.998	36.201	9.016
二波束	17.117	15.944	13.415	10.932	10.050	8.065
三波束	16.114	12.608	12.608	8.892	5.622	5.622

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