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

Abstract

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

CLC Number:

TN967.2

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.

Figures/Tables 17

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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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Equivalence analysis between DVL/SINS loosely and tightly coupled systems and improved virtual beam-aided tightly coupled algorithm

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