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一种用于INS/DVL组合导航系统的IMM辅助ZUPT方法。

An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System.

作者信息

Yao Yiqing, Xu Xiaosu, Xu Xiang

机构信息

Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China.

出版信息

Sensors (Basel). 2017 Sep 5;17(9):2030. doi: 10.3390/s17092030.

DOI:10.3390/s17092030
PMID:28872602
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC5621470/
Abstract

Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified.

摘要

惯性导航系统（INS）/多普勒速度计（DVL）组合是水下航行器最常用的导航解决方案。由于水下环境复杂，DVL提供的速度信息总是包含一些误差。为提高导航精度，考虑采用零速更新（ZUPT）技术，这是陆地车辆在纯INS模式下减轻导航误差的一种有效算法。然而，与地面车辆不同，由于水流的存在，ZUPT解决方案不能直接用于水下航行器。为了利用ZUPT方法和INS/DVL解决方案的优势，提出了一种用于INS/DVL组合水下导航系统的交互式多模型（IMM）辅助ZUPT方法。构建并并行运行INS/DVL和INS/ZUPT模型，根据它们的残差和残差协方差矩阵计算权重。进行了仿真以评估所提算法。结果表明，IMM辅助ZUPT解决方案在水下环境中优于INS/DVL解决方案和INS/ZUPT解决方案，能够正确区分ZUPT和非ZUPT情况。此外，在DVL失效期间，所提算法的有效性也得到了验证。

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