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: 355
- HTML全文浏览量: 51
- PDF下载量: 88
- 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

下载: 全尺寸图片幻灯片

图 2 传感器一体化集成方案

Figure 2. Integration scheme of the sensor

下载: 全尺寸图片幻灯片

图 3 DVL声信号传播过程

Figure 3. DVL acoustic signal propagation process

下载: 全尺寸图片幻灯片

图 4 ECP/IMU姿态融合方案

Figure 4. Attitude fusion scheme of ECP/IMU

下载: 全尺寸图片幻灯片

图 5 DVL异常量测区域

Figure 5. The DVL abnormal measurement zone

下载: 全尺寸图片幻灯片

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

下载: 全尺寸图片幻灯片

图 7 DVL高动态误差修正

Figure 7. The correction of DVL high dynamic error

下载: 全尺寸图片幻灯片

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

下载: 全尺寸图片幻灯片

图 9 试验场景

Figure 9. The scene of filed experiments

下载: 全尺寸图片幻灯片

图 10 导航轨迹对比

Figure 10. The comparison of navigation trajectories

下载: 全尺寸图片幻灯片

图 11 AUV速度

Figure 11. Velocities of the AUV

下载: 全尺寸图片幻灯片

图 12 定位误差

Figure 12. Positioning errors

下载: 全尺寸图片幻灯片

图 13 定位误差和航程百分比

Figure 13. The percentage of positioning error and distance traveled

下载: 全尺寸图片幻灯片

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)

下载: 导出CSV

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

下载: 导出CSV

参考文献(22)

[1]	姚金艺, 曾庆军, 周启润, 等. 全驱动AUV系统路径跟踪设计与实现[J]. 水下无人系统学报, 2019, 27(4): 452-58. Yao Jinyi, Zeng Qingjun, Zhou Qirun et al. Design and Implementation of a path tracking system for a fully actuated AUV[J]. Journal of Unmanned Undersea Systems, 2019, 27(4): 452-58.
[2]	周启润, 曾庆军, 姚金艺, 等. 全驱动AUV动力定位系统设计与实现[J]. 水下无人系统学报, 2019, 27(3): 333-38. Zhou Qirun, Zeng Qingjun, Yao Jinyi, et al. Design and implementation of dynamic positioning system for a fully actuated AUV[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 333-38.
[3]	Santoso F, Garratt M A, Anavatti S G. State-of-the-art integrated guidance and control systems in unmanned vehicles: A review[J]. IEEE Systems Journal, 2021, 15(3): 3312-23. doi: 10.1109/JSYST.2020.3007428
[4]	Harris Z J, Whitcomb L L. Cooperative acoustic navigation of underwater vehicles without a DVL utilizing a dynamic process model: Theory and field evaluation[J]. Journal of Field Robotics, 2021, 38(5): 700-26. doi: 10.1002/rob.22008
[5]	Guo J, Li D Y, He B. Intelligent collaborative navigation and control for AUV tracking[J]. IEEE Transactions on Industrial Informatics, 2021, 17(3): 1732-41. doi: 10.1109/TII.2020.2994586
[6]	Kepper J H, Claus B C, Kinsey J C, et al. A navigation solution using a MEMS IMU, model-based dead-reckoning, and one-way-travel-time acoustic range measurements for autonomous underwater vehicles[J]. IEEE Journal of Oceanic Engineering, 2019, 44(3): 664-82. doi: 10.1109/JOE.2018.2832878
[7]	Wang D, Xu X X, Yang Y, et al. A quasi-newton quaternions calibration method for DVL error aided GNSS[J]. IEEE Transactions on Vehicle Technology, 2021, 70(3): 2465-77. doi: 10.1109/TVT.2021.3059755
[8]	Zhu J P, Li A, Qin F J, et al. A hybrid method for dealing with DVL faults of SINS/DVL integrated navigation system[J]. IEEE Sensors Journal, 2022, 22(16): 15844-54.
[9]	Xu B, Guo Y. A novel DVL calibration method based on robust invariant extended Kalman filter[J]. IEEE Transactions on Vehicle Technology, 2022, 71(9): 9422-34.
[10]	Xu B, Hu J M, Guo Y. An acoustic ranging measurement aided SINS/DVL integrated navigation algorithm based on multivehicle cooperative correction[J]. IEEE Transactions on Instrumentation and Measurement, 2022, 71(5): 8504615.
[11]	Wang B, Huang L, Liu J Y, et al. A support vector regression-based integrated navigation method for underwater vehicles[J]. IEEE Sensors Journal, 2020, 20(15): 8875-83. doi: 10.1109/JSEN.2020.2985998
[12]	Wang B, Liu J Y, Deng Z H, et al. A model-free calibration method of inertial navigation system and Doppler sensors[J]. IEEE Sensors Journal, 2021, 21(2): 2219-29. doi: 10.1109/JSEN.2020.3015845
[13]	Liu P J, Wang B, Deng Z H, et al. INS/DVL/PS tightly coupled underwater navigation method with limited DVL measurements[J]. IEEE Sensors Journal, 2018, 18(7): 2994-002. doi: 10.1109/JSEN.2018.2800165
[14]	Wang D, Xu X S, Yao Y Q, et al. A novel SINS/DVL tightly integrated navigation method for complex environment[J]. IEEE Transactions on Instrumentation and Measurement, 2020, 69(7): 5183-96. doi: 10.1109/TIM.2019.2955187
[15]	Liu S D, Zhang T, Zhang J Y, et al. A new coupled method of SINS/DVL integrated navigation based on improved dual adaptive factors[J]. IEEE Transactions on Instrumentation and Measurement, 2021, 70: 8504211.
[16]	Xiong H L, Bian R C, Li Y J, et al. Fault-tolerant GNSS/SINS/DVL/CNS integrated navigation and positioning mechanism based on adaptive information sharing factors[J]. IEEE Systems Journal, 2020, 14(3): 3744-54. doi: 10.1109/JSYST.2020.2981366
[17]	Kinsey J C, Whitcomb L L. In situ alignment calibration of attitude and Doppler sensors for precision underwater vehicle navigation: Theory and experiment[J]. IEEE Journal of Oceanic Engineering, 2007, 32(2): 286-99. doi: 10.1109/JOE.2007.893686
[18]	Liu P J, Zhao S P, Qin L P, et al. A calibration method for DVL measurement errors based on observability analysis[C]//38th Chinese Control Conference. Guangzhou, China: IEEE, 2019: 3851-56.
[19]	Liu P J, Wang B, Deng Z H, et al. A correction method for DVL measurement errors by attitude dynamics[J]. IEEE Sensors Journal, 2017, 17(14): 4628-38. doi: 10.1109/JSEN.2017.2712282
[20]	Yao Y Q, Xu X S, Hou L H, et al. A simple and precise correction method for DVL measurements under the dynamic environment[J]. IEEE Transactions on Vehicle Technology, 2020, 69(10): 10750-58. doi: 10.1109/TVT.2020.3008755
[21]	Luo L, Huang Y L, Zhang Z, et al. A new Kalman filter-based in-motion initial alignment method for DVL-aided low-cost SINS[J]. IEEE Transactions on Vehicular Technology, 2021, 70(1): 331-43.
[22]	Yao Y Q, Xu X S, Zhu Y Y, et al. In-motion coarse alignment method for SINS/DVL with the attitude dynamics[J]. ISA Transactions, 2020, 105: 377-86. doi: 10.1016/j.isatra.2020.05.033