摘要
为提高智能水下机器人中的SINS/DVL组合导航系统定位精度,需要准确标定出捷联惯性导航系统（SINS）和多普勒计程仪（DVL）之间的安装误差角以及DVL的刻度系数。该方法只需AUV潜水一段时间后浮出水面2~3次,以接收的GPS定位信息作为参照,经过迭代计算,即可标定出DVL速度刻度系数和SINS与DVL之间的安装误差角。试验结果表明,用该方法能简单有效地标定出组合导航系统的各项误差参数,而且在多次标定修正后,定位精度优于7 m,具有较高的实用价值。
To ensure the position accuracy of the integrated navigation system consist of strapdown inertial navigation system（ SINS） and Doppler velocity log in an autonomous underwater vehicle（ AUV）,it is necessary to accurately calibrate the misalignment angle between SINS and DVL and the scale coefficient of DVL. This calibration method only needs an AUV to expose above water surface for 2 ~ 3 times after having dived for about an hour. With the received GPS position as a reference information,the scale coefficient of DVL and the misalignment angle between SINS and DVL can be calibrated through iterative calculations. The experimental verification showed that all error parameters of the integrated navigation system can be calibrated easily and quickly by this method. It was concluded that after repeated calibration and error compensation,the position accuracy was better than 7m.
出处
《智能系统学报》
CSCD
北大核心
2015年第1期143-148,共6页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金资助项目(S1309059)
关键词
组合导航
惯性导航
多普勒计程仪
标定
安装误差
integrated navigation system
inertial navigation
Doppler velocity log
calibration
