SINS_DVL_USBL水下组合导航系统的设计与验证
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(3) Filter design: the advantages of integrated navigation and the basic principle of Kalman filter are introduced; the state equation and observation equation of SINS / DVL / USBL integrated system are derived and established; under the framework of federated filter, the filter design of integrated navigation system is carried out with no restart structure.
(4) Experimental verification: the corresponding static and dynamic experiments are designed. The experimental results show that the navigation accuracy of the integrated navigation system meets the design requirements, and the system is stable and reliable. The
(2) Principle and error analysis: on the premise of defining common navigation coordinate system, the basic principles of sins, DVL and USBL are analyzed; on this basis, the corresponding error model is established; the IMU in SINS system is calibrated and compensated and the random error parameters are identified.
The main contents of this paper are as follows: (1) Overall design: on the basis of defining the system composition and function and putting forward the overall design index of the system, the main components of the integrated navigation system are selected; the overall mechanical structure of the system is designed by using the corresponding software; the hardware platform of information processing and solution is established on the DSP + FPGA architecture; the software functions of information collection, solution and communication are completed Can be realized.
SINS/DVL/USBL 水下组合导航系统的设计与验证
摘要
随着对海洋探索范围的增大，对水下导航系统的精度、抗干扰能力等提出了越来越 高的要求。捷联惯性导航系统由于其自主性高、实时性好等优点被广泛应用在水下导航 领域，但惯性导航系统存在着误差随时间积累的缺点；加之在水下环境之中无线电信号 衰减严重的特点，多采用惯导与多普勒和声学导航定位设备相组合的方式进行导航。本 文以水下航行器的高精度导航定位为实际应用背景，提出一种 SINS/DVL/USBL 组合导 航方案，完成了对组合导航系统实验平台的搭建，在对各个子系统的原理及误差分析的 基础上设计了组合导航系统的信息融合方案，最后通过试验验证了本文中设计的组合导 航系统能够满足水下航行器的实际应用需求。
哈尔滨工程大学硕士学位论文
heading accuracy of the integrated navigation system is better than 0.1°secL(L is the local latitude), and the attitude accuracy is better than 0.02 °. Based on GPS positioning, the underwater positioning accuracy of the system is better than 0.35% of the range.
关键词：水下导航；惯性导航；多普勒计程仪；超短基线；信息融合；
SINS/DVL/USBL 水下组合导航系统的设计与验证
ABSTRACT
With the increasing scope of marine exploration, the performance of underwater navigation system, such as accuracy, anti-jamming ability, has been put forward higher and higher requirements. Strapdown inertial navigation system is widely used in the field of underwater navigation due to its advantages of high autonomy and good real-time performance. However, the inertial navigation system has the disadvantage of error accumulation with time. In addition, in the underwater environment, the radio signal attenuation is serious, and the combination of inertial navigation, Doppler and acoustic navigation and positioning equipment is often used for navigation. In this paper, a SINS / DVL / USBL integrated navigation system is proposed based on the high-precision navigation and positioning of the underwater vehicle. The experimental platform of the integrated navigation system is built. The information fusion scheme of the integrated navigation system is designed on the basis of the principle and error analysis of each subsystem. Finally, the integrated navigation system designed in this paper can be verified by experiments. Meet the practical application requirements of underwater vehicles.
第 2 章 SINS/DVL/USBL 组合导航系统的总体设计............................................................ 7 2.1 系统功能及构成 ......................................................................................................... 7 2.2 组合导航系统的设计指标 ......................................................................................... 8 2.3 系统主要器件选型 ..................................................................................................... 8 2.3.1 光纤陀螺 .......................................................................................................... 8 2.3.2 加速度计 ........................................................................................................ 10 2.3.3 多普勒计程仪 ................................................................................................ 10 2.3.4 超短基线 ........................................................................................................ 11 2.4 组合导航系统的总体设计 ....................................................................................... 12 2.4.1 结构设计 ........................................................................................................ 12 2.4.2 硬件设计 ........................................................................................................ 14 2.4.3 软件设计 ........................................................................................................ 18 2.4.4 整体实验平台的搭建 .................................................................................... 19 2.5 本章小结 ................................................................................................................... 20
论文中主要内容如下： （1）总体设计：在明确系统组成与功能、提出系统总体设计指标的基础之上，对组 合导航系统的主要器件进行了选型；利用相应的软件设计了系统的总体机械结构；在 DSP+FPGA 架构之上建立了信息处理与解算的硬件平台；完成了信息采集、解算、通信 等功能在软件功能上的实现。 （2）原理及误差分析：在明确导航常用坐标系的前提之下，对 SINS、DVL、USBL 的基本原理进行了分析；并在此基础之上，建立了相对应的误差模型；对 SINS 系统中 的 IMU 进行了标定补偿和随机误差参数辨识。 （3）滤波器设计：介绍了组合导航的优势和 Kalman 滤波的基本原理；推导建立了 SINS/DVL/USBL 组合系统的状态方程和观测方程；在联邦滤波的框架之下，采用无重 启结构进行了组合导航系统的滤波器设计。 （4）实验验证：设计进行了相应的静态实验及动态试验。实验结果表明：组合导航 系统的导航精度满足设计指标，且系统运行稳定可靠，初始对准过程中组合导航系统的 航向精度优于 0.1D sec L （ L 为当地纬度），姿态精度优于 0.02°。以 GPS 定位为基准， 系统的水下定位精度优于航程的 0.35%。
Keywords: Underwater Navigation;Inertial Navigation; Doppler log; Ultrashort Baseline; Information Fusion
第 1 章 绪论.............................................................................................................................. 1 1.1 课题背景及研究意义 ................................................................................................. 1 1.2 国内外研究现状及发展趋势 ..................................................................................... 2 1.2.1 SINS 研究现状及发展趋势 ............................................................................. 2 1.2.2 DVL 研究现状及发展趋势.............................................................................. 3 1.2.3 USBL 研究现状及发展趋势............................................................................ 4 1.2.4 水下组合导航的研究现状及趋势 .................................................................. 5 1.3 论文主要内容与结构安排 ......................................................................................... 6
(4) Experimental verification: the corresponding static and dynamic experiments are designed. The experimental results show that the navigation accuracy of the integrated navigation system meets the design requirements, and the system is stable and reliable. The
(2) Principle and error analysis: on the premise of defining common navigation coordinate system, the basic principles of sins, DVL and USBL are analyzed; on this basis, the corresponding error model is established; the IMU in SINS system is calibrated and compensated and the random error parameters are identified.
The main contents of this paper are as follows: (1) Overall design: on the basis of defining the system composition and function and putting forward the overall design index of the system, the main components of the integrated navigation system are selected; the overall mechanical structure of the system is designed by using the corresponding software; the hardware platform of information processing and solution is established on the DSP + FPGA architecture; the software functions of information collection, solution and communication are completed Can be realized.
SINS/DVL/USBL 水下组合导航系统的设计与验证
摘要
随着对海洋探索范围的增大，对水下导航系统的精度、抗干扰能力等提出了越来越 高的要求。捷联惯性导航系统由于其自主性高、实时性好等优点被广泛应用在水下导航 领域，但惯性导航系统存在着误差随时间积累的缺点；加之在水下环境之中无线电信号 衰减严重的特点，多采用惯导与多普勒和声学导航定位设备相组合的方式进行导航。本 文以水下航行器的高精度导航定位为实际应用背景，提出一种 SINS/DVL/USBL 组合导 航方案，完成了对组合导航系统实验平台的搭建，在对各个子系统的原理及误差分析的 基础上设计了组合导航系统的信息融合方案，最后通过试验验证了本文中设计的组合导 航系统能够满足水下航行器的实际应用需求。
哈尔滨工程大学硕士学位论文
heading accuracy of the integrated navigation system is better than 0.1°secL(L is the local latitude), and the attitude accuracy is better than 0.02 °. Based on GPS positioning, the underwater positioning accuracy of the system is better than 0.35% of the range.
关键词：水下导航；惯性导航；多普勒计程仪；超短基线；信息融合；
SINS/DVL/USBL 水下组合导航系统的设计与验证
ABSTRACT
With the increasing scope of marine exploration, the performance of underwater navigation system, such as accuracy, anti-jamming ability, has been put forward higher and higher requirements. Strapdown inertial navigation system is widely used in the field of underwater navigation due to its advantages of high autonomy and good real-time performance. However, the inertial navigation system has the disadvantage of error accumulation with time. In addition, in the underwater environment, the radio signal attenuation is serious, and the combination of inertial navigation, Doppler and acoustic navigation and positioning equipment is often used for navigation. In this paper, a SINS / DVL / USBL integrated navigation system is proposed based on the high-precision navigation and positioning of the underwater vehicle. The experimental platform of the integrated navigation system is built. The information fusion scheme of the integrated navigation system is designed on the basis of the principle and error analysis of each subsystem. Finally, the integrated navigation system designed in this paper can be verified by experiments. Meet the practical application requirements of underwater vehicles.
第 2 章 SINS/DVL/USBL 组合导航系统的总体设计............................................................ 7 2.1 系统功能及构成 ......................................................................................................... 7 2.2 组合导航系统的设计指标 ......................................................................................... 8 2.3 系统主要器件选型 ..................................................................................................... 8 2.3.1 光纤陀螺 .......................................................................................................... 8 2.3.2 加速度计 ........................................................................................................ 10 2.3.3 多普勒计程仪 ................................................................................................ 10 2.3.4 超短基线 ........................................................................................................ 11 2.4 组合导航系统的总体设计 ....................................................................................... 12 2.4.1 结构设计 ........................................................................................................ 12 2.4.2 硬件设计 ........................................................................................................ 14 2.4.3 软件设计 ........................................................................................................ 18 2.4.4 整体实验平台的搭建 .................................................................................... 19 2.5 本章小结 ................................................................................................................... 20
论文中主要内容如下： （1）总体设计：在明确系统组成与功能、提出系统总体设计指标的基础之上，对组 合导航系统的主要器件进行了选型；利用相应的软件设计了系统的总体机械结构；在 DSP+FPGA 架构之上建立了信息处理与解算的硬件平台；完成了信息采集、解算、通信 等功能在软件功能上的实现。 （2）原理及误差分析：在明确导航常用坐标系的前提之下，对 SINS、DVL、USBL 的基本原理进行了分析；并在此基础之上，建立了相对应的误差模型；对 SINS 系统中 的 IMU 进行了标定补偿和随机误差参数辨识。 （3）滤波器设计：介绍了组合导航的优势和 Kalman 滤波的基本原理；推导建立了 SINS/DVL/USBL 组合系统的状态方程和观测方程；在联邦滤波的框架之下，采用无重 启结构进行了组合导航系统的滤波器设计。 （4）实验验证：设计进行了相应的静态实验及动态试验。实验结果表明：组合导航 系统的导航精度满足设计指标，且系统运行稳定可靠，初始对准过程中组合导航系统的 航向精度优于 0.1D sec L （ L 为当地纬度），姿态精度优于 0.02°。以 GPS 定位为基准， 系统的水下定位精度优于航程的 0.35%。
Keywords: Underwater Navigation;Inertial Navigation; Doppler log; Ultrashort Baseline; Information Fusion
第 1 章 绪论.............................................................................................................................. 1 1.1 课题背景及研究意义 ................................................................................................. 1 1.2 国内外研究现状及发展趋势 ..................................................................................... 2 1.2.1 SINS 研究现状及发展趋势 ............................................................................. 2 1.2.2 DVL 研究现状及发展趋势.............................................................................. 3 1.2.3 USBL 研究现状及发展趋势............................................................................ 4 1.2.4 水下组合导航的研究现状及趋势 .................................................................. 5 1.3 论文主要内容与结构安排 ......................................................................................... 6