[1]于玖成,何昆鹏,王晓雪.SINS/DVL组合导航系统的标定[J].智能系统学报,2015,10(1):143-148.[doi:10.3969/j.issn.1673-4785.201208034]
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]
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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]
SINS/DVL组合导航系统的标定
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
10
期数:
2015年第1期
页码:
143-148
栏目:
学术论文—智能系统
出版日期:
2015-03-25
- Title:
- Calibration for strapdown inertia navigation/Doppler velocity log integrated navigation system
- 分类号:
- TP311;TN911.7
- 文献标志码:
- A
- 摘要:
- 为提高智能水下机器人中的SINS/DVL组合导航系统定位精度,需要准确标定出捷联惯性导航系统(SINS)和多普勒计程仪(DVL)之间的安装误差角以及DVL的刻度系数。该方法只需AUV潜水一段时间后浮出水面2~3次,以接收的GPS定位信息作为参照,经过迭代计算,即可标定出DVL速度刻度系数和SINS与DVL之间的安装误差角。试验结果表明,用该方法能简单有效地标定出组合导航系统的各项误差参数,而且在多次标定修正后,定位精度优于7m,具有较高的实用价值。
- 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.
- 参考文献/References:
-
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备注/Memo
收稿日期:2012-8-27;改回日期:。
基金项目:国家自然科学基金资助项目(S1309059).
作者简介:于玖成,男,1984生,助理工程师,主要研究方向为控制理论与控制工程;何昆鹏,男,1979生,副研究员,主要研究方向为新性惯性器件及高精度导航。承担国家自然科学基金等项目多项,获黑龙江省科技进步一等奖和国防科技进步二等奖各1次,发表学术论文30余篇;王晓雪,女,1989生,硕士研究生,主要研究方向为捷联式惯性导航技术。
通讯作者:于玖成.E-mail:yu.jiucheng@163.com.
更新日期/Last Update:
2015-06-16