[1]YU Jiucheng,HE Kunpeng,WANG Xiaoxue.Calibration for strapdown inertia navigation/Doppler velocity log integrated navigation system[J].CAAI Transactions on Intelligent Systems,2015,10(1):143-148.[doi:10.3969/j.issn.1673-4785.201208034]
Copy
Calibration for strapdown inertia navigation/Doppler velocity log integrated navigation system
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
10
Number of periods:
2015 1
Page number:
143-148
Column:
学术论文—智能系统
Public date:
2015-03-25
- Title:
- Calibration for strapdown inertia navigation/Doppler velocity log integrated navigation system
- CLC:
- TP311;TN911.7
- DOI:
- 10.3969/j.issn.1673-4785.201208034
- Abstract:
- To ensure the position accuracy of the integrated navigation system consist of strapdown inertial navigation system(SINS) and Doppler velocity log in an autonomous underwater vehicle (AUV), it is necessary to accurately calibrate the misalignment angle between SINS and DVL and the scale coefficient of DVL. This calibration method only needs an AUV to expose above water surface for 2~3 times after having dived for about an hour. With the received GPS position as a reference information, the scale coefficient of DVL and the misalignment angle between SINS and DVL can be calibrated through iterative calculations. The experimental verification showed that all error parameters of the integrated navigation system can be calibrated easily and quickly by this method. It was concluded that after repeated calibration and error compensation, the position accuracy was better than 7m.
- References:
-
[1] 冯正平.国外自治水下机器人发展现状综述[J].鱼雷技术, 2005, 13(1): 5-9.FENG Zhengpin. A review of the development of autonomous underwater vehicles in western countries[J]. Torpedo Technology, 2005, 13(1): 5-9.
[2] 阳兵兵.观测型水下机器人结构及其惯性导航方法研究[D].杭州:浙江大学,2008:2-3.YANG Bingbing. Research on the observation ROV structure and its strap-down inertial navigation system[D]. Hangzhou: Zhejiang University, 2008: 2-3.
[3] 余雄,唐晓东.国内外几种水下机器人的性能对比与分析[J].机器人集锦, 2001: 18-21.YU Xiong, TANG Xiaodong. Several underwater robots of performance comparison and analysis[J].Robot Collection, 2001: 18- 21.
[4] MACRO D B, HEALEY A J. Command, control, and navigation experimental results with the NPS ARIES AUV[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 466- 476.
[5] 俞建成,张艾群.基于多普勒和光纤陀螺水下机器人导航系统研究[J]. 船海工程, 2006(2): 105-108.YU Jiancheng,ZHANG Aiqun. Research on underwater vehicles navigation system based on DVL and fiber optic Gyro[J]. Ship Engineering, 2006(2): 105-108.
[6] 黄鸣敏. 组合导航系统在水下潜器中的应用[D].南京:南京理工大学, 2007: 1-2.HUANG Mingmin. The application of integrated navigation system in the underwater vehicle[D]. Nanjing: Nanjing University of Science and Technology, 2007: 1-2.
[7] 周凯,易杏甫. 水下机器人概述和发展应用前景[J].电子科技, 2010(24): 283-284.ZHOU Kai, YI Xingfu. The overview and development of AUV[J]. Electronic Technology, 2010(24): 283-284.
[8] 袁建平,罗建军,岳晓奎,等.卫星导航原理与应用[M].北京:中国宇航出版社, 2003: 9-15.
[9] 秦永元.惯性导航[M].北京:科学出版社, 2006: 1-9.
[10] 徐玉如,李彭超.水下机器人发展趋势[J].自然杂志, 2011, 33(3): 125-131.XU Yuru, LI pengchao. The development trend of underwater robot[J]. Nature Magazine, 2011, 33(3): 125-131
[11] 张天光, 王秀萍, 王丽霞. 捷联惯性导航技术[M]. 北京: 国防工业出版社, 2009: 5-10
[12] TITTERTON D H, WESTON J L. Strapdown inertial navigation technology[M]. USA: American Institute of Aeronautics & Astronautic, 2007: 1-188,263-288.
[13] 彭东立,马海涛,徐伟杰. DVL在组合导航技术中的发展应用[J]. 声学技术, 2011,30(3): 417-418.PENG Lidong, MA Haitao, XU Weijie. The development and application of DVL in integrated navigation technology[J]. Acoustic Technology, 2011, 30(3): 417-418.
[14] 朱春云,庄广琛. DVL安装角估计方法在水下组合导航系统中的应用[J].中国惯性技术学报.2011,19(1): 75-78.ZHU Chunyun,ZHUANG Guangcheng. DVL installation angle estimation and application in uunderwater integrated navigation system[J].Journal of Chinese Inertial Technology, 2011, 19(1): 75-78.
- Similar References:
Memo
-
Last Update:
2015-06-16