SINS/DVL/USBL Navigation Algorithm Based on Tight Integration

ZHANG Caixia; LIU Xixiang; HUANG Yongjiang; CHEN Shijie; TAO Yujie

doi:10.11993/j.issn.2096-3920.2022-0076

Volume 31 Issue 6

Dec 2023

Turn off MathJax

Article Contents

Article Navigation > Journal of Unmanned Undersea Systems > 2023 > 31(6): 847-855

ZHANG Caixia, LIU Xixiang, HUANG Yongjiang, CHEN Shijie, TAO Yujie. SINS/DVL/USBL Navigation Algorithm Based on Tight Integration[J]. Journal of Unmanned Undersea Systems, 2023, 31(6): 847-855. doi: 10.11993/j.issn.2096-3920.2022-0076

Citation:

ZHANG Caixia, LIU Xixiang, HUANG Yongjiang, CHEN Shijie, TAO Yujie. SINS/DVL/USBL Navigation Algorithm Based on Tight Integration[J]. Journal of Unmanned Undersea Systems, 2023, 31(6): 847-855. doi: 10.11993/j.issn.2096-3920.2022-0076

Citation:

PDF( 1802 KB)

SINS/DVL/USBL Navigation Algorithm Based on Tight Integration

doi: 10.11993/j.issn.2096-3920.2022-0076

ZHANG Caixia^{1, 2
,},
LIU Xixiang^{1, 2
,
,},
HUANG Yongjiang^{1, 2},
CHEN Shijie^{1, 2},
TAO Yujie^{1, 2}

1.
School of Instrument Science and Engineering, Southeast University, Wuxi 214026, China
2.
Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, Nanjing 210096, China

Received Date: 2022-11-18
Accepted Date: 2023-02-14
Rev Recd Date: 2023-01-13

Available Online: 2023-12-06

Abstract

Abstract

For autonomous undersea vehicle’s requirement of high-precision and high-reliability navigation and positioning in complex underwater environments, a tightly integrated navigation algorithm involving strapdown inertial navigation system(SINS)/Doppler velocity log(DVL)/ultra-short baseline(USBL) positioning system was proposed. A SINS/DVL tightly integrated measurement equation based on frequency shift measurement and a SINS/USBL tightly integrated measurement equation based on relative measurement information were established. SINS, DVL, and USBL information were fused using a concentrated Kalman filter. In view of the decline of navigation accuracy caused by the complex underwater environment, the DVL and USBL data outliers were fully considered, and the fault data were detected and isolated by Chi-square detection. In addition, the measurement equation dimensions were updated in real time to ensure the precision of the system. The simulation results show that the proposed algorithm has higher positioning precision than other integrated model algorithms. Compared with the traditional SINS/DVL/USBL concentrated filtering method based on velocity measurement and relative position measurement, the precision can be improved by about 23%. In the case of DVL data failure, the positioning error only increases by 5.2% compared with the normal condition. In the case of USBL data failure, the positioning error increases by 165.4% compared with the normal condition, and the robustness and stability are significantly better than the SINS/DVL/USBL concentrated filtering navigation algorithm based on other measurements. Therefore, it can achieve high-precision and high-reliability underwater navigation and positioning.
- autonomous undersea vehicle,
- tight integration,
- strapdown inertial navigation system,
- Doppler velocity log,
- ultra-short baseline,
- information fusion

FullText(HTML)

References(20)

References

[1]	Paull L, Saeedi S, Seto M, et al. AUV Navigation and localization: A review[J]. IEEE Journal of Oceanic Engineering, 2014, 39(1): 131-149. doi: 10.1109/JOE.2013.2278891
[2]	Klein I, Diamant R. Observability analysis of DVL/PS aided INS for a maneuvering AUV[J]. Sensors, 2015, 15(10): 26818-26837. doi: 10.3390/s151026818
[3]	Wu Y, Ta X, Xiao R, et al. Survey of underwater robot positioning navigation[J]. Applied Ocean Research, 2019, 90: 101845. doi: 10.1016/j.apor.2019.06.002
[4]	Guo S, He B, Feng C, et al. Fault tolerant multi-sensor federated filter for AUV integrated navigation[C]//2019 IEEE Underwater Technology. Kaohsiung, Taiwan: IEEE, 2019: 1-4.
[5]	Luo Q, Yan X, Wang C, et al. A SINS/DVL/USBL integrated navigation and positioning IoT system with multiple sources fusion and federated Kalman filter[J]. Journal of Cloud Computing, 2022, 11(1): 18-34. doi: 10.1186/s13677-022-00289-3
[6]	Asaf T, Itzik K, Reuven K. Inertial navigation system (INS)/Doppler velocity log(DVL) fusion with partial DVL measurements[J]. Sensors, 2017, 17(2): 415-435. doi: 10.3390/s17020415
[7]	陈建华, 朱海, 王超, 等. 水下SINS/DVL紧组合导航算法[J]. 海军工程大学学报, 2017, 29(2): 108-112. Chen Jianhua, Zhu Hai, Wang Chao, et al. Underwater SINS/DVL tightly integrated navigation algorithm[J]. Journal of Naval University of Engineering, 2017, 29(2): 108-112.
[8]	张亚文, 莫明岗, 马小艳, 等. 一种基于相对测量信息的SINS/USBL组合导航算法[J]. 导航定位与授时, 2016, 3(2): 7-13. doi: 10.19306/j.cnki.2095-8110.2016.02.002 Zhang Yawen, Mo Minggang, Ma Xiaoyan, et al. An algorithm used in underwater SINS/USBL integrated navigation[J]. Navigation Positioning and Timing, 2016, 3(2): 7-13. doi: 10.19306/j.cnki.2095-8110.2016.02.002
[9]	胡贺庆. 基于USBL辅助SINS的AUV导航技术研究[D]. 南京: 东南大学, 2017.
[10]	徐博, 郝芮, 王超, 等. 基于倒置声学基阵的INS/USBL组合导航算法研究[J]. 海洋技术学报, 2017, 36(5): 46-54. Xu Bo, Hao Rui, Wang Chao, et al. Research on INS/USBL integrated navigation algorithm based on the inverted acoustic array[J]. Journal of Ocean Technology, 2017, 36(5): 46-54.
[11]	翁铖铖. SINS/USBL水下组合定位系统的标定与组合算法研究[D]. 南京: 东南大学, 2020.
[12]	张涛, 徐晓苏, 李瑶, 等. 基于惯导及水下声学辅助系统的AUV容错导航技术[J]. 中国惯性技术学报, 2013, 21(4): 512-516. doi: 10.3969/j.issn.1005-6734.2013.04.018 Zhang Tao, Xu Xiaosu, Li Yao, et al. AUV fault-tolerant technology based on inertial navigation and underwater acoustics assisted navigation system[J]. Journal of Chinese Inertial Technology, 2013, 21(4): 512-516. doi: 10.3969/j.issn.1005-6734.2013.04.018
[13]	王彬, 翁海娜, 梁瑾, 等. 一种惯性/水声单应答器距离组合导航方法[J]. 中国惯性技术学报, 2017, 25(1): 86-90. Wang Bin, Weng Haina, Liang Jin, et al. Inertial/acoustic range integrated navigation with single transponder[J]. Journal of Chinese Inertial Technology, 2017, 25(1): 86-90.
[14]	张亚文, 莫明岗, 马小艳, 等. 一种基于集中滤波的SINS/DVL/USBL水下组合导航算法[J]. 导航定位与授时, 2017, 4(1): 25-31. Zhang Yawen, Mo Minggang, Ma Xiaoyan, et al. An algorithm of underwater SINS/DVL/USBL integrated navigation based on concentrated filtering[J]. Navigation Positioning and Timing, 2017, 4(1): 25-31.
[15]	徐博, 郝芮, 王超, 等. 水下潜航器的惯导/超短基线/多普勒测速信息融合及容错验证[J]. 光学精密工程, 2017, 25(9): 2508-2515. doi: 10.3788/OPE.20172509.2508 Xu Bo, Hao Rui, Wang Chao, et al. INS/USBL/DVL information fusion and fault-tolerant verification for underwater vehicles[J]. Optics and Precision Engineering, 2017, 25(9): 2508-2515. doi: 10.3788/OPE.20172509.2508
[16]	Wang D, Xu X, Yao Y, et al. A novel SINS/DVL tightly integrated navigation method for complex environment[J]. IEEE Transactions on Instrumentation and Measurement, 2019, 69(7): 5183-5196.
[17]	Liu S, Zhang T, Zhang J, 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: 1-11.
[18]	刘锡祥. 捷联式惯性导航系统初始对准理论与方法[M]. 北京: 科学技术出版社, 2019.
[19]	刘云. SINS/USBL组合导航技术研究[D]. 哈尔滨: 哈尔滨工程大学, 2020.
[20]	Liu P, Wang B, Deng Z, et al. INS/DVL/PS tightly coupled underwater navigation method with limited DVL measurements[J]. IEEE Sensors Journal, 2018, 18(7): 2994-3002. doi: 10.1109/JSEN.2018.2800165