水下组合导航系统DVL时间延迟估计方法

DVL time delay estimation method for underwater integrated navigation system

针对水下载体导航应用场景下,多普勒测速仪(DVL)由于其水声测速原理存在的测速数据时间延迟问题,基于多普勒时间延迟机理研究了一种水下组合导航系统多普勒时间延迟估计方法。对常规惯性/DVL组合导航滤波模型进行改进,建立惯性/DVL组合导航滤波方程,增加多普勒时间延迟估计,降低了多普勒数据延迟引起的定位误差。通过已知时间延迟和未知时间延迟两种试验,证实了多普勒时间延迟估计方法能够提高惯性/DVL组合导航定位精度,在海试试验中将惯性/DVL组合导航定位精度从0.3%里程提升至0.2%里程。结果表明,所提方法可以实现对DVL时间延迟估计,有效降低时间延迟对测速误差的影响,对提升水下高精度组合导航定位精度具有较好的工程应用价值。

Aiming at the problem of DVL time delay of velocity measurement data due to its principle of underwater acoustic velocity measurement in the application scenario of underwater navigation,a DVL time delay estimation method for underwater integrated navigation system is studied based on the mechanism of DVL time delay.By improving the conventional inertial/DVL integrated navigation filter model,the inertial/DVL integrated navigation filter equation is established,the DVL time delay estimation is increased and the positioning error caused by DVL data delay is reduced.Through known time delay and unknown time delay tests,it is proved that the proposed DVL time delay estimation method can improve the positioning accuracy of inertial/DVL integrated navigation.In the sea trial,the positioning accuracy of inertial/DVL integrated navigation is improved from 0.3%to 0.2%.The results show that this method can estimate the time delay of DVL,effectively reduce the influence of time delay on velocity measurement error,and has a good application value for improving the positioning accuracy of underwater high-precision integrated navigation.