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水下 SINS/DVL 组合定位导航误差修正技术研究

Research on Error Correction Technology in Underwater SINS/DVL Integrated Positioning and Navigation.

机构信息

College of Internet of Things Engineering, Hohai University, Changzhou 213001, China.

Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin 150001, China.

出版信息

Sensors (Basel). 2023 May 12;23(10):4700. doi: 10.3390/s23104700.

DOI:10.3390/s23104700
PMID:37430615
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10224473/
Abstract

Underwater vehicles are key carriers for underwater inspection and operation tasks, and the successful implementation of these tasks depends on the positioning and navigation equipment with corresponding accuracy. In practice, multiple positioning and navigation devices are often combined to integrate the advantages of each equipment. Currently, the most common method for integrated navigation is combination of the Strapdown Inertial Navigation System (SINS) and Doppler Velocity Log (DVL). Various errors will occur when SINS and DVL are combined together, such as installation declination. In addition, DVL itself also has errors in the measurement of speed. These errors will affect the final accuracy of the combined positioning and navigation system. Therefore, error correction technology has great significance for underwater inspection and operation tasks. This paper takes the SINS/DVL integrated positioning and navigation system as the research object and deeply studies the DVL error correction technology in the integrated system.

摘要

水下潜器是水下检测和作业任务的关键载体，而这些任务的成功实施取决于具有相应精度的定位和导航设备。在实际应用中，通常会结合多种定位和导航设备，以整合每种设备的优势。目前，最常见的集成导航方法是捷联惯性导航系统（SINS）和多普勒速度计（DVL）的组合。当 SINS 和 DVL 组合在一起时，会出现各种误差，例如安装偏置。此外，DVL 本身在测量速度时也存在误差。这些误差会影响组合定位和导航系统的最终精度。因此，误差校正技术对水下检测和作业任务具有重要意义。本文以 SINS/DVL 组合定位和导航系统为研究对象，深入研究了组合系统中的 DVL 误差校正技术。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/6d3c/10224473/3a312c7462b5/sensors-23-04700-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/6d3c/10224473/fcd6a68d27b1/sensors-23-04700-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/6d3c/10224473/b5a11470c1a9/sensors-23-04700-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/6d3c/10224473/a0d6ff499b2d/sensors-23-04700-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/6d3c/10224473/b34b7bfaed28/sensors-23-04700-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/6d3c/10224473/594f760e14ae/sensors-23-04700-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/6d3c/10224473/3a312c7462b5/sensors-23-04700-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/6d3c/10224473/fcd6a68d27b1/sensors-23-04700-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/6d3c/10224473/b5a11470c1a9/sensors-23-04700-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/6d3c/10224473/a0d6ff499b2d/sensors-23-04700-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/6d3c/10224473/b34b7bfaed28/sensors-23-04700-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/6d3c/10224473/594f760e14ae/sensors-23-04700-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/6d3c/10224473/3a312c7462b5/sensors-23-04700-g008.jpg

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