基于状态变换的DVL辅助SINS初始对准方法

DVL aided SINS initial alignment method based on state transformation

针对传统捷联惯性导航系统(SINS)/声学多普勒测速仪(DVL)组合导航系统初始对准过程中模型不精确引起的对准效率低的问题,提出了一种基于状态变换的SINS/DVL初始对准方法。与传统的SINS/DVL匹配模式不同,所提方案采用了基于载体系速度信息的匹配模式,建立了基于载体系速度误差的SINS误差方程,提高了系统误差模型精度。并考虑SINS和DVL之间的安装关系,重新建立了SINS/DVL初始对准系统及量测方程。最后仿真及试验结果表明,所提出的基于状态变换的DVL辅助SINS初始对准方法能在粗对准不够理想且存在安装偏差角条件下完成高精度的初始对准,提高了初始对准的鲁棒性能,同时在对准过程中能够保持高精度的位置信息。

Aiming at the problem of low alignment efficiency caused by inaccurate model in the initial alignment of traditional strapdown inertial navigation system(SINS)/doppler velocity log(DVL)integrated navigation system,a SINS/DVL initial alignment method based on state transformation is proposed.Different from the traditional SINS/DVL matching mode,the proposed scheme adopts the matching mode based on the velocity information of the body frame,and calculates the SINS error equation based on the velocity error of the body frame,and improves the accuracy of the system error model.Considering the installation relationship between SINS and DVL,the SINS/DVL initial alignment system and measurement equation are re-established.Finally,the simulation and experimental results show that the proposed DVL assisted SINS initial alignment method based on state transformation can complete high-precision initial alignment under the condition of imperfect coarse alignment and installation deviation angle.The proposed scheme improves the robustness of initial alignment.At the same time,high-precision position information can be maintained in the alignment process.