A GNSS-aided DVL calibration method based on quaternion estimation for underwater vehicles

IF 2 4区地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS

Marine Geodesy Pub Date : 2023-05-27 DOI:10.1080/01490419.2023.2213838

Kaidi Jin, Hongzhou Chai, Chuhan Su, Minzhi Xiang, Mingchen Shi

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引用次数: 0

Abstract

Abstract Doppler velocity logger (DVL) error parameters can significantly influence the navigation accuracy of DVL/strapdown inertial navigation system (SINS) integration for unmanned underwater vehicles (UUV). To improve the navigation accuracy of UUV, this study proposes a two-stage DVL calibration method aided by global navigation satellite system (GNSS) measurements. First, utilizing the velocity of GNSS/SINS integrated navigation, the scale factor error of DVL is calculated by the moduli of velocities in UUV body frame and DVL instrument frame. Then, using the measurements throughout the calibration process, the calibration problem of the installation angle is converted to a nonlinear constraint optimization problem by describing the angle as a unit quaternion. Moreover, an easy-to-implement quaternion estimation algorithm is chosen to solve the problem and obtain the optimal quaternion. Simulation and sea trial indicate that the proposed method can rapidly and accurately estimate the DVL error parameters in different scenarios, and the position accuracy of the DVL/SINS system is improved.

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基于四元数估计的gnss辅助水下航行器DVL标定方法

摘要多普勒速度记录仪(DVL)误差参数对水下无人潜航器DVL/捷联惯导系统(SINS)集成的导航精度有重要影响。为了提高UUV的导航精度，本文提出了一种基于全球导航卫星系统(GNSS)测量辅助的两阶段DVL定标方法。首先，利用GNSS/SINS组合导航的速度，通过UUV体架和DVL仪器架的速度模量计算DVL的尺度因子误差;然后，利用整个校准过程中的测量数据，将安装角的校准问题转化为一个非线性约束优化问题，将安装角描述为一个单位四元数。此外，选择了一种易于实现的四元数估计算法来解决该问题，并获得了最优四元数。仿真和海上试验表明，该方法能快速准确地估计不同场景下的DVL误差参数，提高了DVL/SINS系统的定位精度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Marine Geodesy 地学-地球化学与地球物理

CiteScore

4.10

自引率

6.20%

发文量

审稿时长

>12 weeks

期刊介绍： The aim of Marine Geodesy is to stimulate progress in ocean surveys, mapping, and remote sensing by promoting problem-oriented research in the marine and coastal environment. The journal will consider articles on the following topics: topography and mapping; satellite altimetry; bathymetry; positioning; precise navigation; boundary demarcation and determination; tsunamis; plate/tectonics; geoid determination; hydrographic and oceanographic observations; acoustics and space instrumentation; ground truth; system calibration and validation; geographic information systems.