罗皓, 刘锡祥, 刘剑威, 等. 基于两个点集间参数估计的DVL标定方法[J]. 中国舰船研究, 2024, 19(4): 1–9. doi: 10.19693/j.issn.1673-3185.03314
引用本文: 罗皓, 刘锡祥, 刘剑威, 等. 基于两个点集间参数估计的DVL标定方法[J]. 中国舰船研究, 2024, 19(4): 1–9. doi: 10.19693/j.issn.1673-3185.03314
LUO H, LIU X X, LIU J W, et al. A method for DVL calibration based on parameter estimation between two point sets[J]. Chinese Journal of Ship Research, 2024, 19(4): 1–9 (in Chinese). doi: 10.19693/j.issn.1673-3185.03314
Citation: LUO H, LIU X X, LIU J W, et al. A method for DVL calibration based on parameter estimation between two point sets[J]. Chinese Journal of Ship Research, 2024, 19(4): 1–9 (in Chinese). doi: 10.19693/j.issn.1673-3185.03314

基于两个点集间参数估计的DVL标定方法

A method for DVL calibration based on parameter estimation between two point sets

  • 摘要:
    目的 为提高无人艇(USV)捷联式惯性导航(SINS)与多普勒计程仪(DVL)组合导航的精度,需要对DVL误差进行精确标定。
    方法 首先,对DVL的安装误差角、杆臂、比例因子进行误差建模,着重分析舰船中杆臂误差项对组合导航定位产生的影响;然后,提出一种基于两个点集间参数估计的DVL误差标定方法,即将SINS/GNSS导航参数与DVL输出参数视为两个点集,将标定问题转换为两个点集间差值的估计问题,再利用卡尔曼滤波器对两个点集间的误差参数进行估计;最后,利用基于奇异值分解(SVD)的可观测性分析,对不同运动条件下滤波器的可观测性定量分析,给出标定过程中载体的运动策略。
    结果 数学仿真和海试试验结果表明:标定后的SINS/DVL算法全局相对精度可达到0.122%航程;在角机动时,杆臂会导致SINS/DVL定位突变;补偿杆臂后的定位误差更加平滑,且整体上具有更小的定位误差。
    结论 所提方法为包括杆臂在内的各项DVL误差标定提供了可行途径。

     

    Abstract:
    Objective In order to improve the combined navigation accuracy of unmanned surface vehicles (USVs) by strapdown inertial navigation (SINS) and doppler range finder (DVL), the DVL error needs to be accurately calibrated.
    Methods This paper carries out error modeling of the installation error angle, lever arm, and scale factor of the DVL, and focuses on the analysis of the impact of the lever arm error term on the combined navigation positioning in the vessels, pointing out the necessity of its calibration; proposes a DVL error calibration method based on the parameter estimation between two point sets, which treats the SINS/GNSS navigation parameters and DVL output parameters as two point sets, converting the calibration problem into an estimation problem of the difference between the two point sets, and using the Kalman filter to estimate the error parameters between the two point sets; using the SVD(singular value decomposition)-based observability analysis to quantify the observability of the filter under different motion conditions, giving the motion recommendations of the carrier during the calibration process.
    Results The results of mathematical simulation and real ship experiments show that the global relative accuracy of the calibrated SINS/DVL algorithm can reach a voyage of 0.122%. During cornering maneuvers, the lever arm causes abrupt changes in SINS/DVL positioning.After compensating for the lever arm, the positioning errors become smoother and the overall positioning error is reduced.
    Conclusions The proposed method provides a feasible way to calibrate each DVL error including the lever arm.

     

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