A Fast in-Motion Alignment Algorithm for DVL Aided SINS
A Fast in-Motion Alignment Algorithm for DVL Aided SINS
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DOI：
10.1155/2014/593692
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发表时间：
2014-01-01
影响因子：
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通讯作者：
Song, Kaichen
中科院分区：
文献类型：
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作者：
Kang, Li;Ye, Lingyun;Song, Kaichen
多普勒速度日志（DVL）辅助捷联惯导系统（SINS）是一种常用的水下导航方法。由于运动状态和缺乏GPS，在水下对准捷联惯导系统是一个挑战。本文提出了一种完整的姿态和位置运动对准方案。研究了体架速度更新方程及其积分形式，使姿态粗对准成为基于优化的体架速度与重力积分形式之间的姿态确定问题。将体架速度和地架位置分开处理，将位置对准问题转化为方程求解问题。通过仿真和湖上试验对该算法进行了验证。头部可以达到10度左右的精度，俯仰和翻滚可以在60秒内对齐到0.05度。在该姿态误差水平下，采用基于无气味卡尔曼滤波（UKF）的精细对准，可在240s内达到1度精度。最终定位误差可达到航程的1.5%。该方案也可应用于其它体架速度辅助捷联惯导系统对准。
Doppler velocity log (DVL) aided strapdown inertial navigation system (SINS) is a common navigation method for underwater applications. Owing to the in-motion condition and the lack of the GPS, it is a challenge to align a SINS under water. This paper proposed a complete in-motion alignment solution for both attitude and position. The velocity update equation and its integral form in the body frame are studied, and the attitude coarse alignment becomes an optimization-based attitude determination problem between the body frame velocity and the integral form of gravity. The body frame velocity and the Earth frame position are separately treated, and the position alignment problem turns into an equation solving problem. Simulation and on-lake tests are carried out to examine the algorithm. The heading could reach around 10 deg accuracy and the pitch and roll could be aligned up to 0.05 deg in 60 s. With attitude error of this level, the heading could reach 1 deg accuracy in 240 s using unscented Kalman filter (UKF) based fine alignment. The final position error could achieve 1.5% of the voyage distance. This scheme can also be applied to other body frame velocity aided SINS alignments.