基于紧组合的SINS/DVL/USBL导航算法

SINS/DVL/USBL Navigation Algorithm Based on Tight Integration

针对自主水下航行器在水下复杂环境下对于高精度、高可靠性的导航定位需求,提出了一种捷联式惯导系统(SINS)/多普勒测速仪(DVL)/超短基线(USBL)定位系统紧组合导航算法,构建了基于频移量测的SINS/DVL紧组合量测方程和基于相对测量信息量测的SINS/USBL紧组合量测方程,通过集中卡尔曼滤波的方法,对SINS、DVL和USBL的信息进行融合处理。针对水下复杂环境造成导航精度下降的问题,充分考虑DVL和USBL的数据野值情况,利用卡方检验法进行判断后对故障数据隔断处理,实时更新量测方程维数,保证系统精度。仿真验证可知,该算法对比其他不同组合模型算法具有较高的定位精度,对比传统的基于速度量测和相对位置量测的SINS/DVL/USBL集中滤波方法精度可提升约23%;在DVL数据失效时,定位误差较正常情况仅增长5.2%;在USBL数据失效时,定位误差较正常情况增长165.4%,鲁棒性和稳定性显著优于基于其他量测的SINS/DVL/USBL的集中滤波导航算法,可实现高精度和高可靠性的水下导航定位。

For autonomous undersea vehicle’s requirement of high-precision and high-reliability navigation and positioning in complex underwater environments,a tightly integrated navigation algorithm involving strapdown inertial navigation system(SINS)/Doppler velocity log(DVL)/ultra-short baseline(USBL)positioning system was proposed.A SINS/DVL tightly integrated measurement equation based on frequency shift measurement and a SINS/USBL tightly integrated measurement equation based on relative measurement information were established.SINS,DVL,and USBL information were fused using a concentrated Kalman filter.In view of the decline of navigation accuracy caused by the complex underwater environment,the DVL and USBL data outliers were fully considered,and the fault data were detected and isolated by Chi-square detection.In addition,the measurement equation dimensions were updated in real time to ensure the precision of the system.The simulation results show that the proposed algorithm has higher positioning precision than other integrated model algorithms.Compared with the traditional SINS/DVL/USBL concentrated filtering method based on velocity measurement and relative position measurement,the precision can be improved by about 23%.In the case of DVL data failure,the positioning error only increases by 5.2%compared with the normal condition.In the case of USBL data failure,the positioning error increases by 165.4%compared with the normal condition,and the robustness and stability are significantly better than the SINS/DVL/USBL concentrated filtering navigation algorithm based on other measurements.Therefore,it can achieve highprecision and high-reliability underwater navigation and positioning.