A Modified Smoothing Scheme for Water Current-Aided SINS/DVL Integration System
A Modified Smoothing Scheme for Water Current-Aided SINS/DVL Integration System
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DOI：
10.1109/jsen.2023.3318561
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发表时间：
2023-11
影响因子：
4.3
通讯作者：
Yiqing Yao;Yilei Shen;Xiang Xu;Kai Deng;Xiaosu Xu
中科院分区：
文献类型：
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作者：
Yiqing Yao;Yilei Shen;Xiang Xu;Kai Deng;Xiaosu Xu
水流速度辅助捷联惯性导航系统（SINS）/多普勒速度计程仪（DVL）组合系统在中层水域显示出良好的性能。虽然一旦获得DVL底部航迹（DVL-BT），速度误差将收敛，但在中水期期间累积的位置误差应通过使用更新的速度测量值来进一步优化。因此，在这项工作中，提出了一种新的平滑计划，指定为水流辅助DVL/DVL机械化。首先，一个国家的最先进的交错网格为基础的水流辅助的导航/DVL架构，提供了一个连续的导航解决方案，在中层水域。其次，提出了一种改进的前向Rauch-Tung-Striebel（RTS）平滑方法，在输出校正模式下重建观测方程。然后，一个修改后的RTS平滑器也被研究，以进一步提高平滑性能。最后，结合前向RTS和后向RTS平滑结果，重新计算位置和水流速度。仿真结果验证了所提出的平滑算法的有效性。结果表明，功能的修改的前向-后向（FB）RTS解决方案，其中所有的速度，位置和网格水流估计误差减轻，相比传统的DVL/DVL解决方案和RTS解决方案。
Water current velocity-aided strapdown inertial navigation system (SINS)/Doppler velocity logs (DVLs) integration system has shown great performance in mid-water areas. Though the velocity error will converge once the DVL bottom track (DVL-BT) is obtained, the position error accumulated during the mid-water period should be further optimized by employing the updated velocity measurements. Thus, in this work, a novel smoothing scheme specified for water current-aided SINS/DVL mechanization is proposed. First, a state-of-the-art staggered grid-based water current-aided SINS/DVL architecture is presented to provide a continuous navigation solution in mid-water areas. Second, a modified forward Rauch–Tung–Striebel (RTS) smoothing method is proposed, where the observation equations are rebuilt in output correction mode. Then, a modified backward RTS smoother is also investigated to further enhance the smoothing performance. Finally, both the forward RTS and backward RTS smoothing results are combined, where the position and water current velocities are recalculated. Simulations are conducted to evaluate the effectiveness of the proposed smoothing scheme. The results show the functionality of the modified forward–backward (FB) RTS solution, where all the velocity, position, and grid water current estimation errors are alleviated, compared to the traditional SINS/DVL solution and RTS solution.