Online Calibration Method of DVL Error Based on Improved Integrated Navigation Model
Online Calibration Method of DVL Error Based on Improved Integrated Navigation Model
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DOI：
10.1109/jsen.2022.3208327
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发表时间：
2022-11
影响因子：
4.3
通讯作者：
Di Wang-;Bin Wang;Haoqian Huang;Yiqing Yao
中科院分区：
文献类型：
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作者：
Di Wang-;Bin Wang;Haoqian Huang;Yiqing Yao
对于捷联惯导/多普勒计程仪组合导航系统，安装误差角和多普勒计程仪标度因数误差是影响组合导航系统精度的关键因素。针对这一问题，在传统卡尔曼滤波标定方法的基础上，讨论了不同模型下标定参数的估计问题。一方面，根据状态变量的可观测性，提出了一种改进的标定模型，给出了相应的状态方程和量测方程。另一方面，摒弃了传统的基于DVL三维速度信息的定标模型，引入DVL四通道波束速度信息，建立了紧集成定标模型，提出了紧集成模型定标方法。结合传统的校正模型和本文提出的两种改进模型，设计了河流试验。实验结果表明，本文提出的改进模型比传统模型具有更好的标定精度。同时，基于GPS/DVL的组合导航结果表明，本文提出的模型具有较小的定位误差。
For the strap-down inertial navigation system (SINS)/Doppler velocity log (DVL) integrated navigation system, the installation error angle and the DVL scale factor error are the key factors affecting the accuracy of the integrated navigation system. Aiming at this problem, based on the traditional Kalman filter calibration method, this article discusses the estimation of calibration parameters under different models. On the one hand, according to the observability of state variables, an improved calibration model is proposed, and the corresponding state equation and measurement equation are given. On the other hand, the traditional calibration model based on DVL 3-D velocity information is abandoned, DVL four-channel beam velocity information is introduced, a tight integrated calibration model is established, and a tight integrated model calibration method is proposed. Combined with the traditional calibration model and the two improved models in this article, the River test is designed. The experimental results show that the improved model proposed in this article has better calibration accuracy than the traditional model. At the same time, the integrated navigation results based on the SINS/DVL show that the model proposed in this article has a smaller position error.