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

Abstract

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

CLC Number:

U666.1

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

Davenport quaternion DVL calibration method based on position observation information

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方法	最大值	平均值
未标定	356.58	160.94
SVD	92.41	46.71
KF	20.71	12.48
QNQ-P	11.84	5.22
DP-P	10.72	4.65

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