CN110044378A - A kind of fiber strapdown inertial navigation high-accuracy position system and method for underwater bathyscaph - Google Patents
A kind of fiber strapdown inertial navigation high-accuracy position system and method for underwater bathyscaph Download PDFInfo
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- 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
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- 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
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Abstract
本发明公开了一种用于水下深潜器的光纤捷联惯性导航高精度定位系统及方法，包括导航解算模块、全球定位系统模块、捷联惯性导航接收模块、多普勒测速模块，信息融合滤波模块。捷联惯性导航接收模块中的光纤陀螺仪、加速度计、磁力计输出导航姿态、速度、位置初始信息，利用动态Allan方差方法对光纤陀螺仪输出数据进行误差处理校正，将处理后的数据通过导航解算模块得到载体的速率、位置、姿态信息，最后通过信息融合滤波模块将载体的速率信息进行融合、滤波误差校正，实现水下深潜器的精准定位。本发明实现了高精度、高可靠性、强实时性的水下深潜器定位与导航，克服了传统导航系统位置信息精确度的不足。
The invention discloses an optical fiber strapdown inertial navigation high-precision positioning system and method for underwater deep submersibles, including a navigation solution module, a global positioning system module, a strapdown inertial navigation receiving module, and a Doppler speed measurement module. Information fusion filter module. The fiber optic gyroscope, accelerometer, and magnetometer in the strapdown inertial navigation receiving module output the initial information of navigation attitude, speed, and position, and use the dynamic Allan variance method to correct the error of the output data of the fiber optic gyroscope, and pass the processed data through the navigation system. The calculation module obtains the velocity, position, and attitude information of the carrier, and finally fuses the velocity information of the carrier through the information fusion filtering module, and corrects the filtering error to realize the precise positioning of the underwater submersible. The invention realizes high precision, high reliability and strong real-time underwater submersible positioning and navigation, and overcomes the shortage of the accuracy of the position information of the traditional navigation system.
Description
Technical field
The present invention relates to the navigation device field of underwater bathyscaph more particularly to a kind of optical fiber for underwater bathyscaph are prompt
Inertial navigation high-accuracy position system and method.
Background technique
With the fast development of electronic computer technology especially microcomputer technology and the progress of modern control theory, from 20 generation
It records the seventies, integrated navigation technology starts to grow rapidly.The integrated navigation system road of early stage is often by gyrocompass
Or platform compass measures course, carries out reckoning berth by electromagnet log or the Doppler sonar measurement speed of a ship or plane, and with rowland c or Austria
Rice, which adds to wait, calibrates reckoning berth, thus constitutes integrated navigation system, but such navigation system can not meet now
In scientific and technological flourishing navigation accuracy, so people are exploring a kind of high-precision navigation positioning system and method.
Strap-down inertial technology becomes the research hotspot of home and abroad in recent years, due to constantly mentioning for optical fiber gyroscope precision
High and practical application is filled with new vitality for the research of strap-down inertial technology.Fiber-optic gyroscope strapdown inertial navigation system it is excellent
Gesture is: one, with optical fibre gyro instead of mechanical gyroes, two, mathematical platform is instead of physical platform.Due to the system having
The advantages of column, it will be by disconnected substitution Platform INS Inertial, and has become Strapdown Inertial Navigation System Main Trends of The Development.
Since strapdown inertial navigation system has many advantages, such as that independence, information parameter be comprehensive, high-precision in short-term, but its by
The influence of the reasons such as system initial error (alignment error), inertial device error, location error can be accumulated at any time and be dissipated,
It will lead to measurement accuracy degradation under long endurance service condition；Global Satellite Navigation System (GNSS) is a kind of high-precision complete
Ball real-time satellite navigation system, the global and high-precision of positioning, makes a kind of advanced measurement method.But GNSS
There is also some shortcomings, mainly the work of system is affected by carrier is motor-driven, is easy to be interfered and artificially
Control.
Summary of the invention
Goal of the invention: error big problem when shipping row long for strapdown inertial navigation system in the prior art, the present invention
A kind of fiber strapdown inertial navigation high-accuracy position system and method for underwater bathyscaph is provided.
Technical solution: a kind of fiber strapdown inertial navigation high-precision locating method for underwater bathyscaph, including it is following
Step:
(1) before underwater bathyscaph enters water, strapdown inertial navigation system is initially aligned with Kalman filtering；
(2) after underwater bathyscaph enters water, the fibre optic gyroscope in strap-down inertial receiving module measures carrier initial angle
Rate, and the initial angular speed of carrier is modified using dynamic Allan Variance Method；In strap-down inertial receiving module
Accelerometer, magnetometer export carrier initial position, velocity information；
Doppler log, the speed of landform geomagnetic sensor output carrier, position, posture information；
(3) parameter for causing fibre optic gyroscope output data to change is constantly regulate, fibre optic gyroscope under different parameters is analyzed
The stability of carrier angular speed is exported, and judges the degree of stability after the correction of dynamic Allan Variance Method, while analyzing light of sening as an envoy to
The stable parameter of fiber gyroscope output data calculates the posture information of carrier to adjust out accurate angular speed；
(4) carrier initial velocity, position and posture information that strap-down inertial receiving module exports are passed through into navigational solution
Calculate the bearer rate after module is resolved, position, posture information；
(5) bearer rate, position, posture information and Doppler range rate measurement module, landform earth magnetism after resolving step (4) pass
The bearer rate of sensor output, position, posture information, are input in information fusion filtering module, number identical according to data type
Two parts data are screened according to feature identical criterion, are filtered by Kalman Filter Technology and nerual network technique
Correction, Error processing obtain accurate navigation information.
Further, in step (2), dynamic Allan Variance Method is that known fiber optic gyroscope is influenced by ambient temperature,
Fibre optic gyroscope output angular speed is compensated and handled by dynamic Allan variance and time-frequency domain decomposition method, thus
To high-precision posture information.
Further, in step (3), the posture information of fibre optic gyroscope output angle rate calculations carrier, detailed process is such as
Under:
Utilize formula
(1) in formula: qiFor the quaternary number after standardization.
By the Quaternion Method of description rotation rigid-body attitude matrix, be easy to get attitude of carrier matrixIt is expressed as
Assuming that the azimuth of carrier is ψ, pitch angle θ, inclination angle γ, then by the corresponding coordinate transform battle array of rotation relationship
Obtaining corresponding attitude matrix is
It is obtained to calculate attitude angle:
Further, in step (1), bearer rate, position and posture information are determined using GPS module.
A kind of fiber strapdown inertial navigation high-accuracy position system for underwater bathyscaph, including global positioning system mould
Block, strap-down inertial receiving module, Doppler log, landform geomagnetic sensor, information fusion filtering module, navigation calculation
Module, the GPS module are used to determine bearer rate, position and posture information before carrier enters water；Strap down inertial navigation
Navigation receiver module is used to measure bearer rate, position and posture information after carrier enters water；Doppler log is for measuring
Bearer rate, landform geomagnetic sensor are used to measure position, the posture information of carrier；Information fusion filtering module is used for strapdown
Bearer rate, position and the posture information and Doppler log, landform geomagnetic sensor of inertial navigation receiving module output are defeated
Bearer rate, position and posture information out merged, filtering and calibration；Navigation calculation module is for connecing strap-down inertial
The data and the data after fusion correction process for receiving module output carry out resolving processing, obtain accurate navigation speed, position, appearance
State information.
Further, the strap-down inertial receiving module includes fibre optic gyroscope, accelerometer, magnetometer, optical fiber
Gyroscope is used to measure position, the velocity information of carrier for measuring carrier angular speed, accelerometer, magnetometer.
Further, the parameter for causing fibre optic gyroscope output data to change includes environment temperature, ambient pressure, carrier vibration
Dynamic amplitude.
The utility model has the advantages that the present invention provides a kind of fiber strapdown inertial navigation high-accuracy position system for underwater bathyscaph
And method, compared with prior art, the advantage is that: realizing high-precision, high reliability, hard real-time；It makes full use of limited
Navigation data realize high-precision, high reliability underwater bathyscaph positioning and navigation, overcome conventional navigation systems position letter
The deficiency for ceasing accuracy carries out the posture information of carrier with dynamic Allan Variance Method using the characteristic of fibre optic gyroscope
It corrects, while compensating for the cumulative errors of SINS when SINS navigates under water using Doppler log, landform geomagnetic sensor
With it is long when unstability, to precisely extrapolate the posture of underwater bathyscaph, speed, location information.
Detailed description of the invention
Fig. 1 is underwater bathyscaph high-accuracy position system schematic diagram of the present invention；
Fig. 2 is Doppler log course of work schematic diagram.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
As shown in Figure 1, a kind of fiber strapdown inertial navigation high accuracy positioning for underwater bathyscaph of the present invention
Service system includes navigation calculation module, GPS module, strap-down inertial receiving module, Doppler range rate measurement mould
Block, information fusion filtering module；Underwater bathyscaph is equipped with navigation calculation module, GPS module, strap down inertial navigation and leads
Navigate receiving module, Doppler range rate measurement module, information fusion filtering module；Enter and carrier is determined according to GPS module before water
Speed, position and posture information, to correct the accumulated error of SINS；Enter after water in strap-down inertial receiving module according to light
Fiber gyroscope and the data of accelerometer output calculate speed, position and the posture information of carrier by navigation calculation module,
Speed, position and the posture information of Doppler range rate measurement module, landform geomagnetic sensor output carrier, merge finally by information and filter
Wave module merges the speed of carrier, position and posture information, filtering and calibration.
(1) under water bathyscaph into the water before, first with external GPS auxiliary information combination alignment methods to bathyscaph into
The initial alignment of row, enters water by estimated angle before so that bathyscaph is entered water.
(2) after underwater bathyscaph enters water, the fibre optic gyroscope in strap-down inertial receiving module measures carrier initial angle
Rate, and the initial angular speed of carrier is modified using dynamic Allan Variance Method；In strap-down inertial receiving module
Accelerometer, magnetometer export carrier initial position, velocity information；
Doppler log, the speed of landform geomagnetic sensor output carrier, position, posture information.Doppler log
By emitting ultrasonic wave to seabed, ultrasonic wave is reflected back Doppler log again after reaching seabed, so that Doppler effect is generated,
The velocity information of carrier is calculated according to respective formula, the Doppler log course of work is as shown in Figure 2.
(3) under water in navigation, it is one that there are optical fibre gyro drifts for optical fibre gyro in strap-down inertial receiving module
Most basic error term is because white noise is averaged and leads to permanent worker during integrating to obtain angle to rotation rate signal
Drift becomes the principal element of the accumulation of error in work, is carried out using dynamic Allan Variance Method to fibre optic gyroscope output data
Then temperature-compensating, noise processed carry out sampling processing to data using time-frequency domain decomposition method；It constantly regulate and causes optical fiber top
The parameter such as environment temperature, ambient pressure, carrier Oscillation Amplitude etc. that spiral shell instrument output data changes, analyzes optical fiber top under different parameters
Spiral shell instrument exports the stability of carrier angular speed, is analyzed and processed using dynamic Allan Variance Method to output data, thus
To the parameter for making fibre optic gyroscope export stable data, accurate angular speed is obtained under steadiness parameter, calculates the posture of carrier
Information；
The present embodiment improved using high-precision fibre optic gyroscope the precision of underwater bathyscaph integrated navigation, stability,
Low-power consumption and long endurance.The posture information of fibre optic gyroscope output angle rate calculations carrier, detailed process is as follows:
Utilize formula
(1) in formula: qiFor the quaternary number after standardization.
By the Quaternion Method of description rotation rigid-body attitude matrix, be easy to get attitude of carrier matrixIt is expressed as
Assuming that the azimuth of carrier is ψ, pitch angle θ, inclination angle γ, then by the corresponding coordinate transform battle array of rotation relationship
Obtaining corresponding attitude matrix is
It is obtained to calculate attitude angle:
(4) carrier initial velocity, position and posture information that strap-down inertial receiving module exports are passed through into navigational solution
Calculate the bearer rate after module is resolved, position, posture information；
(5) bearer rate, position, posture information and Doppler range rate measurement module, landform earth magnetism after resolving step (4) pass
The bearer rate of sensor output, position, posture information, data characteristics phase same criterion identical according to data type is to two parts
Data are screened, by Kalman filtering processing correction, neural network information fusion in information fusion filtering module, thus quasi-
Really determine posture, position, the velocity information of underwater bathyscaph.
The data of Doppler range rate measurement module landform geomagnetic sensor output mainly help out, and assist strap-down inertial
The initial alignment of system；The data of Doppler range rate measurement module landform geomagnetic sensor output simultaneously make up strap-down inertial module
The deficiency of output data real-time, and strap-down inertial module output data can make up Doppler range rate measurement module landform earth magnetism
The low disadvantage of the data poor anti jamming capability of sensor output, precision, so to be merged, to overcome single sensor defeated
The uncertainty and limitation of data out, to improve navigation accuracy.
DSP acquisition is KVH DSP-1750 fibre optic gyroscope data, and KVH DSP-1750 is the production of KVH company, the U.S.
Miniaturization open-loop optical fiber gyro is realized in diminutive volume optical fibre gyro using exclusive D-type optical fiber and digital processing technology
Close to more volume, the performance level of also more expensive closed-loop fiber optic gyroscope and laser gyro.DSP-1750 provides uniaxial and double
Axis product, product gauge outfit and processing circuit separation, facilitate user that gyroscope is integrated into types of applications environment.Particularly suitable for each
Class platform servo and stabilization, integrated navigation application.In addition, it has low noise, intersect the insensibility of axis error, good punching
Hit and vibrant characteristic, in conjunction in us simple and reliable maturation fiber optic circuit, perfect performance establishes KVH
DSP-1750 is successfully applied in dynamic sensitive, stabilization, navigation and is accurately positioned aspect.It is used primarily in aerospace, ocean, severe
The industry and military affairs at quarter.
GNSS can correct the accumulated error of SINS in real time, can also realize the calibration of inertial device error；Meanwhile it utilizing
SINS can improve the ability of its tracking satellite with assisted GNSS, enhance the dynamic characteristic and anti-interference ability of receiver, work as satellite
When signal losing lock, SINS can also export lasting measurement data；SINS and Doppler log, landform earth magnetism are sensed after entering water
Device is combined into integrated navigation system, realizes underwater precision navigation positioning, therefore the two combination can overcome respective disadvantage.
Claims (7)
1. a kind of fiber strapdown inertial navigation high-precision locating method for underwater bathyscaph, which is characterized in that including following
Step:
(1) before underwater bathyscaph enters water, strapdown inertial navigation system is initially aligned with Kalman filtering；
(2) after underwater bathyscaph enters water, the fibre optic gyroscope in strap-down inertial receiving module measures the initial angular speed of carrier,
And the initial angular speed of carrier is modified using dynamic Allan Variance Method；Acceleration in strap-down inertial receiving module
Degree meter, magnetometer export carrier initial position, velocity information；
Doppler log, the speed of landform geomagnetic sensor output carrier, position, posture information；
(3) parameter for causing fibre optic gyroscope output data to change is constantly regulate, fibre optic gyroscope under different parameters is analyzed and exports
The stability of carrier angular speed, and judge the degree of stability after the correction of dynamic Allan Variance Method, while analyzing optical fiber top of sening as an envoy to
The stable parameter of spiral shell instrument output data calculates the posture information of carrier to adjust out accurate angular speed；
(4) carrier initial velocity, position and the posture information for exporting strap-down inertial receiving module pass through navigation calculation mould
Block resolved after bearer rate, position, posture information；
(5) bearer rate, position, posture information and Doppler range rate measurement module, landform geomagnetic sensor after resolving step (4)
The bearer rate of output, position, posture information are input in information fusion filtering module, identical according to data type, data are special
It levies identical criterion to screen two parts data, school is filtered by Kalman Filter Technology and nerual network technique
Just, Error processing obtains accurate navigation information.
2. the fiber strapdown inertial navigation high-precision locating method according to claim 1 for underwater bathyscaph, special
Sign is, in step (2), dynamic Allan Variance Method is that known fiber optic gyroscope is influenced by ambient temperature, passes through dynamic
Allan variance and time-frequency domain decomposition method are compensated and are handled to fibre optic gyroscope output angular speed, to obtain high-precision
Posture information.
3. the fiber strapdown inertial navigation high-precision locating method according to claim 1 for underwater bathyscaph, special
Sign is, in step (3), the posture information of fibre optic gyroscope output angle rate calculations carrier, detailed process is as follows:
Utilize formula
(1) in formula: qiFor the quaternary number after standardization.
By the Quaternion Method of description rotation rigid-body attitude matrix, be easy to get attitude of carrier matrixIt is expressed as
Assuming that the azimuth of carrier is ψ, pitch angle θ, inclination angle γ, then obtained by the corresponding coordinate transform battle array of rotation relationship
Attitude matrix is accordingly
It is obtained to calculate attitude angle:
4. the fiber strapdown inertial navigation high-precision locating method according to claim 1 for underwater bathyscaph, special
Sign is, in step (1), determines bearer rate, position and posture information using GPS module.
5. a kind of fiber strapdown inertial navigation high-accuracy position system for underwater bathyscaph, which is characterized in that including the whole world
Positioning system modules, strap-down inertial receiving module, Doppler log, landform geomagnetic sensor, information fusion filtering mould
Block, navigation calculation module, the GPS module are used to determine bearer rate, position and posture letter before carrier enters water
Breath；Strap-down inertial receiving module is used to measure bearer rate, position and posture information after carrier enters water；Doppler has the records of distance by the log
Instrument is used to measure position, the posture information of carrier for measuring bearer rate, landform geomagnetic sensor；Information fusion filtering module
Bearer rate, position and posture information and Doppler log, landform for being exported to strap-down inertial receiving module
Bearer rate, position and the posture information of Magnetic Sensor output are melted by Kalman Filter Technology and nerual network technique
It closes, filtering and calibration；After data and fusion correction process that navigation calculation module is used to export strap-down inertial receiving module
Data carry out resolving processing, obtain accurate navigation speed, position, posture information.
6. the fiber strapdown inertial navigation high-accuracy position system according to claim 5 for underwater bathyscaph, special
Sign is that the strap-down inertial receiving module includes fibre optic gyroscope, accelerometer, magnetometer, and fibre optic gyroscope is used for
Carrier angular speed is measured, accelerometer, magnetometer are used to measure position, the velocity information of carrier.
7. the fiber strapdown inertial navigation high-accuracy position system according to claim 1 for underwater bathyscaph, special
Sign is, in step (3), the parameter for causing fibre optic gyroscope output data to change includes environment temperature, ambient pressure, carrier vibration
Dynamic amplitude.
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| CN110793549A (en) * | 2019-11-07 | 2020-02-14 | 湖南航天机电设备与特种材料研究所 | Data rapid off-line analysis system of inertia measurement unit |
| CN110806209A (en) * | 2019-11-25 | 2020-02-18 | 湖北三峡职业技术学院 | An underwater robot multi-equipment integrated navigation system and method |
| CN111077335A (en) * | 2020-01-22 | 2020-04-28 | 滴图(北京)科技有限公司 | Vehicle speed detection method, vehicle speed detection device and readable storage medium |
| CN112066982A (en) * | 2020-09-07 | 2020-12-11 | 成都睿芯行科技有限公司 | Industrial mobile robot positioning method in high dynamic environment |
| CN112285755A (en) * | 2020-11-04 | 2021-01-29 | 桂林慧谷人工智能产业技术研究院 | Finding-missing seamless positioning system and positioning method |
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| CN112630813A (en) * | 2020-11-24 | 2021-04-09 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle attitude measurement method based on strapdown inertial navigation and Beidou satellite navigation system |
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| CN112729279A (en) * | 2020-11-17 | 2021-04-30 | 武汉第二船舶设计研究所(中国船舶重工集团公司第七一九研究所) | CCKF-based underwater unmanned submersible vehicle attitude measurement method |
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| CN118746296A (en) * | 2024-07-26 | 2024-10-08 | 北京中航天佑科技有限公司 | Underwater positioning and navigation method, system and program product based on inertial navigation |
| CN118816864A (en) * | 2024-07-26 | 2024-10-22 | 北京中航天佑科技有限公司 | A method and system for marine resource exploration and positioning based on inertial navigation |
| CN119618206A (en) * | 2025-01-21 | 2025-03-14 | 上海帝图信息科技有限公司 | Inertial navigation device and system based on multi-mode data analysis |
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