一种面向无人水下航行器的多普勒自主导航方法

刘沛佳; 秦丽萍; 李广华; 侯冬冬; 朱政宇

doi:10.11993/j.issn.2096-3920.202204006

一种面向无人水下航行器的多普勒自主导航方法

doi: 10.11993/j.issn.2096-3920.202204006

刘沛佳^{1, 3,},
秦丽萍^{2, 3},
李广华^{2, 3},
侯冬冬^{2, 3},
朱政宇^1, ,

1.
郑州大学电气与信息工程学院, 河南郑州, 450001
2.
中国船舶集团有限公司第713研究所, 河南郑州, 450015
3.
河南省水下智能装备重点实验室, 河南郑州, 450015

基金项目: 国家自然科学基金项目(62203399); 河南省重点研发与推广专项项目(222102220004); 河南省高等学校重点科研项目(22A413003); 国家超级计算郑州中心首批创新生态系统建设科技专项项目(201400211100); 中央引导地方科技发展专项项目(Z20221343002); 河南省自然科学基金项目(232300421097); 河南省高校科技创新人才支持计划项目(23HA STIT019)

详细信息

作者简介:
刘沛佳(1988-), 男, 博士, 主要研究方向为水下导航、组合导航

通讯作者:
朱政宇(1988-), 男, 副教授, 博士, 主要研究方向为信号处理、无线通信、通导一体化

中图分类号: TP630.34; U674.941
计量
- 文章访问数: 179
- HTML全文浏览量: 20
- PDF下载量: 58
- 被引次数: 0
出版历程
- 收稿日期: 2022-04-10
- 修回日期: 2022-08-12
- 网络出版日期: 2023-05-19

DVL-based Autonomous Navigation Method for Unmanned Undersea Vehicles

LIU Peijia^{1, 3
,},
QIN Liping^{2, 3},
LI Guanghua^{2, 3},
HOU Dongdong^{2, 3},
ZHU Zhengyu^{1
, ,}

1.
School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou 450001, China
2.
713th Research Institute, China State Shipbuilding Corporation Limited, Zhengzhou 450015, China
3.
Henan Key Laboratory of Underwater Intelligent Equipment, Zhengzhou 450015, China

摘要

摘要: 针对无人水下航行器自主导航需求, 文中设计由多普勒计程仪(DVL)、深度计、电子罗盘(ECP)和低成本惯性量测单元(IMU)组成的航位推算导航系统, 提出一种DVL自主导航方法。该方法通过传感器一体化集成克服安装误差和时间异步问题, 采用ECP/IMU融合方案获取高频姿态参数, 在此基础上, 制定DVL异常数据处理、高动态误差修正以及全球导航卫星系统辅助策略。所提出的方法在“海为一号”自主水下航行器上得到应用, 试验结果表明自主导航定位精度约为航程的1.5%(圆概率误差), 可以为相关研究和应用提供参考。
- 无人水下航行器 /
- 自主导航 /
- 航位推算 /
- 多普勒导航
Abstract: In response to the requirement for autonomous navigation capability of unmanned undersea vehicles, a dead-reckoning navigation system composed of a Doppler velocity log(DVL), a pressure sensor, an electronic compass(ECP), and a low-cost inertial measurement unit(IMU) is designed in this study, and a DVL-based autonomous navigation method is developed. In the proposed method, a sensor integration scheme is implemented to overcome the installation error and time asynchrony. An ECP/IMU fusion scheme is developed for high-frequency attitude parameters. On this basis, the strategies for the elimination of DVL abnormal data, the correction of DVL high dynamic errors and the assistance of global navigation satellite system are formulated. The proposed method is applied on the “Haiwei 1” autonomous undersea vehicle(AUV). The filed experiments of “Haiwei 1” AUV indicate that the positioning accuracy of the autonomous navigation corresponds to approximately 1.5%(circular error probable) of the distance traveled, which can serve as a reference for related researches and applications.
- unmanned undersea vehicle /
- autonomous navigation /
- dead-reckoning /
- DVL-based navigation

HTML全文

图 1 “海为一号”AUV导航系统

Figure 1. Navigation system of Haiwei 1 AUV

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图 2 传感器一体化集成方案

Figure 2. Integration scheme of the sensor

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图 3 DVL声信号传播过程

Figure 3. DVL acoustic signal propagation process

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图 4 ECP/IMU姿态融合方案

Figure 4. Attitude fusion scheme of ECP/IMU

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图 5 DVL异常量测区域

Figure 5. The DVL abnormal measurement zone

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图 6 基于趋势预测的野值剔除方案

Figure 6. The outlier elimination strategy based on trend prediction

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图 7 DVL高动态误差修正

Figure 7. The correction of DVL high dynamic error

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图 8 基于推进器转速反馈的GNSS辅助导航策略

Figure 8. GNSS-assisted navigation strategy based on propeller speed feedback

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图 9 试验场景

Figure 9. The scene of filed experiments

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图 10 导航轨迹对比

Figure 10. The comparison of navigation trajectories

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图 11 AUV速度

Figure 11. Velocities of the AUV

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图 12 定位误差

Figure 12. Positioning errors

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图 13 定位误差和航程百分比

Figure 13. The percentage of positioning error and distance traveled

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表 1 传感器型号和参数

Table 1. Sensor types and parameters

设备名称	厂家和型号	主要性能参数
导航计算机	北京盛博PC104	主频1.6 GHz
DVL	RTI SeaPILOT 600 kHz	±0.25%±2 mm/s
ECP	DVL内部集成	1°(RMS)
PS	DVL内部集成	1% F.S.
MEMS IMU	西安精准测控GS01	水平0.3°(RMS) 航向1°(RMS)
GNSS	中海达BX381	单点精度1.5 m(1σ)

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表 2 试验结果统计

Table 2. The statistics table of experiment results

定位精度	试验次数
<1% D.T.	3
1~1.5% D.T.	4
1.5~3% D.T.	3
3~4% D.T.	1
4~5% D.T.	3

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参考文献(22)

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