Error calibration method based on SINS (Strapdown Inertial Navigation System)/DVL (Doppler Velocity Log) integrated navigation

Abstract

The invention relates to an error calibration method based on SINS (Strapdown Inertial Navigation System) / DVL (Doppler Velocity Log) integrated navigation. The method comprises the steps of (1) obtaining a voyage trajectory prediction model; (2) obtaining a DVL voyage distance and GNSS voyage distance; (3) incorporating voyage data into total voyage number data, recalculating new to-be-verified DVL error parameters and updating the system error parameters; (4) going back to step (2) to continue to execute until the number of staged voyages reaches the preset maximum number of voyages, and completing calibration, wherein the verified error parameters at this time are DVL error parameters. The error calibration method based on SINS / DVL integrated navigation disclosed by the invention, the validity judgment is performed on GNSS (Global Navigation Satellite System) position data, the voyage trajectory prediction model is established by use of a least square method to improve the reliability of the GNSS position information, the DVL error parameter is calculated by use of a relation between the DVL voyage distance and the GNSS voyage distance, a feedback authentication mechanism is added in a calibration process while the DVL error is calculated, the error parameter can be recalculated in time in case of error calibration to verify the correctness of the calibration results, therebyimproving the accuracy degree of the calibration results; and the error calibration method based on SINS / DVL integrated navigation has practical engineering significance.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a method for calibrating navigation errors based on SINS / DVL combination. Background technique [0002] The inertial navigation system has the advantages of autonomy, stability, and high short-term positioning accuracy, but there are cumulative errors when working for a long time. In engineering, the auxiliary navigation information provided by other navigation equipment is often used to estimate and correct the inertial navigation error to achieve high precision. Navigation, DVL (Doppler Velocity Log) is a more accurate external speed measurement navigation device, SINS (Strapdown Inertial Navigation System (Strapdown Inertial Navigation System) / DVL (Doppler VelocityLog)) integrated navigation is Use the high-precision speed provided by DVL to suppress the accumulation of SINS navigation errors, and for integrated navigation systems, solving the spatiotemporal consistency o...

AI Technical Summary

Problems solved by technology

At present, the Kalman filter equation is commonly used to solve the installation error angle and scale coefficient error, but the implementation of the scheme is often complicated, and the calibration process is also susceptible to interference from the reliability of GNSS (Global Navigation Satellite System) data, resulting in inaccurate and stable calibration results.

Images