基于位置观测信息的Davenport四元数DVL标定方法

doi:10.12305/j.issn.1001-506X.2023.11.32

摘要/Abstract

摘要：

多普勒计程仪(Doppler velocity log, DVL)能够实时为捷联惯性导航系统(strapdown inertial navigation system, SINS)提供外部速度辅助信息, 准确稳定的DVL标定工作对提升SINS/DVL组合导航系统的性能具有重要意义。为有效解决此问题, 提出了一种基于位置观测信息的Davenport四元数标定方法。在所提方法中, 通过基于多普勒测速原理的位置观测推算标定刻度因子误差以减小速度量测噪声的不利影响, 利用基于Davenport四元数方法的位置观测矢量方程解算标定安装角误差以增强旋转矩阵求解的稳定性。船载湖试结果表明, 相比于现有方法, 所提标定方法在简单和复杂的机动情况下均具有更高的准确度和更好的稳定性。

关键词: 多普勒计程仪, 捷联式惯导系统, 误差标定, 组合导航

Abstract:

Doppler velocity log (DVL) can provide external velocity assistance information for strapdown inertial navigation system (SINS) in real time, the accurate and stable DVL calibration work can improve the performance of SINS/DVL integrated navigation system. In order to solve this problem effectively, this paper proposed a Davenport quaternion calibration method based on position observation information. In the proposed method, the scale factor error is calibrated by the position observation information based on the Doppler velocimetry principle to reduce the adverse effect of the velocity measurement noise, and the installation angle error is calibrated by solving the position observation vector equation based on the Davenport quaternion method to enhance the stability of the rotation matrix solution. The boat-borne lake test results demonstrate that the proposed method has higher accuracy and better stability than the current methods in both simple and complex maneuvering situations.

Key words: Doppler velocity log (DVL), strapdown inertial navigation system (SINS), error calibration, integrated navigation

中图分类号:

U666.1

唐洪琼, 许江宁, 史文策, 何泓洋, 李方能. 基于位置观测信息的Davenport四元数DVL标定方法[J]. 系统工程与电子技术, 2023, 45(11): 3640-3648.

Hongqiong TANG, Jiangning XU, Wence SHI, Hongyang HE, Fangneng LI. Davenport quaternion DVL calibration method based on position observation information[J]. Systems Engineering and Electronics, 2023, 45(11): 3640-3648.

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参数	陀螺仪	加速度计
测量范围	±400(°)/s	±50 g
零偏稳定性	＜0.003(°)/h	＜20 μg
随机游走系数	＜0.000 3(°)/h	＜5 μg
标度因子重复性/ppm	＜2	＜15
更新频率/Hz	200	200

参数	数值
测量范围/kn	±12
长期测量精度/(cm/s)	0.3%±0.3
工作频率/kHz	600
波束数量	4波束相控阵
最大量测深度/m	80
更新频率/Hz	1

方法	右向速度误差		前向速度误差		上向速度误差
方法	MAX	MAE	MAX	MAE	MAX	MAE
未标定	0.353	0.207	0.151	0.037	0.093	0.021
SVD	0.106	0.028	0.083	0.017	0.051	0.012
KF	0.108	0.019	0.163	0.048	0.353	0.316
QNQ-P	0.086	0.016	0.119	0.025	0.065	0.012
DP-P	0.085	0.015	0.118	0.025	0.091	0.015

方法	MAX	MEAN
未标定	352.16	176.41
SVD	32.92	16.89
KF	25.51	14.35
QNQ-P	3.77	1.50
DP-P	2.74	1.39

方法	右向速度误差		前向速度误差		上向速度误差
方法	MAX	MAE	MAX	MAE	MAX	MAE
未标定	0.432	0.254	0.238	0.052	0.181	0.026
SVD	0.309	0.040	0.290	0.033	0.210	0.028
KF	0.175	0.053	0.215	0.042	0.465	0.195
QNQ-P	0.182	0.031	0.188	0.033	0.247	0.024
DP-P	0.137	0.029	0.187	0.033	0.211	0.024