基于“速度+角速度”匹配的DVL/INS组合传递对准优化算法设计

Optimization Algorithm of DVL/INS Integrated Transfer Alignment Based on Velocity Plus Angular Rate Matching

针对全球导航定位系统(GNSS)多径效应明显、信号易受干扰等因素导致的主惯导参考速度信息可靠性差的问题,采用多普勒计程仪(DVL)辅助大型舰载试验平台上搭载的主惯性导航系统进行传递对准。考虑到大海域试验海况复杂,采用"速度+角速度"匹配方式、动态挠曲杆臂模型和DVL地理系系统误差模型构建系统方程。仿真结果表明,DVL辅助对准的结果明显优于没有设备辅助的对准结果,速度快且平稳性好。因此,在大型舰载平台实际试验过程中,DVL是实现平台传递对准技术的理想的外界辅助设备。

Due to the obvious multipath effect and signal being easily-disturbed of GNSS,the velocity reference outputted by master inertial navigation system fails to be calibrated.For the unreliable master velocity observation,the Doppler velocity log(DVL)is supposed to be adopted to facilitate transfer alignment on the large shipborne trial platform.Given complex ocean condition in trial practice,velocity plus angular rate matching method and dynamic flexural lever arm model are used to build system error equations up,as well as the error of DVL is established under the local level frame.Simulation demonstrates that the alignment performance with DVL auxiliary is much more precise than that without assistance,while the alignment process is steady as well.Therefore,in the midst of cruise of marine vessels,DVL is an ideal auxiliary equipment in transfer alignment.