On-line calibration method for scalefactorerror of DVL (Doppler velocity log)

A Doppler log and scale factor technology, which is applied in the field of online calibration of Doppler log scale factor error, can solve the problems of limited calibration methods, complex and changeable underwater environment, and less available information.

Active Publication Date: 2015-04-01
BEIHANG UNIV
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Problems solved by technology

In addition, the underwater environment is complex and changeable, and there is little available information, so the calibration method will be greatly limited

Method used

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  • On-line calibration method for scalefactorerror of DVL (Doppler velocity log)
  • On-line calibration method for scalefactorerror of DVL (Doppler velocity log)
  • On-line calibration method for scalefactorerror of DVL (Doppler velocity log)

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Embodiment Construction

[0042] figure 2 It is the flow chart of DVL scale factor error calibration, which is divided into the following steps:

[0043] (1) The carrier runs a circular trajectory.

[0044] The underwater vehicle can plan a circular trajectory according to factors such as the size of the underwater site and the length of time it takes. Generally, the moving speed of the underwater vehicle is constant, and the trajectory is determined, that is, the carrier running time T circle Sure.

[0045] (2) Calculate the respective navigation position change information of DR and LBL within a certain time interval T;

[0046] According to the principle of DVL scale factor error calibration, when the carrier runs a circular trajectory, the time interval T for calculating the DVL scale factor should not be too large. However, due to the LBL navigation accuracy, T is too small to distinguish due east, due west, due south and due north. So to combine T circleand LBL positioning accuracy to sele...

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Abstract

The invention discloses an on-line calibration method for a scalefactor error of a DVL (Doppler velocity log).A circular trace is adopted to enable an underwater vehicle to cyclically operate for 360 degrees, the underwater vehicle inevitably passes four positions including due east, due west, due south and due north during operation of a circle of circular trace, time periods of the vehicle passing the four positions are determined by a LBL (long base line) acoustic navigation system, decoupling of the scalefactor error of the DVL and a compass course error in a DR (dead reckoning) process is realized, and the scalefactor error of the DVL is calibrated on line according to navigation results of DR and LBL. The on-line calibration method for the scale factor error of the DVL has the advantages of simplicity, convenience, effectivity and only requirement for positional information and is suitable for on-line calibration of the DVL scalefactor error for the underwater vehicle.

Description

technical field [0001] The invention relates to an online calibration method for the scale factor error of a Doppler log, which belongs to the field of acoustic measurement and can improve the measurement accuracy of DVL and the navigation accuracy of underwater carrier DR. It is suitable for online calibration and compensation of DVL scale factor error of underwater carrier. Background technique [0002] Dead reckoning based on DVL and compass has the advantages of independence and high frequency, and is a commonly used navigation method for underwater vehicles. However, due to the respective errors of DVL and compass, the dead reckoning results will diverge rapidly over time, reducing the navigation accuracy. Usually, dead reckoning and acoustic system (such as LBL) are used for combined navigation to effectively control the error divergence of dead reckoning and improve navigation accuracy. Good estimate. The underwater environment is complex, and the acoustic system i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 张延顺李春雨郭雅静
Owner BEIHANG UNIV
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