UUV协同导航下MEMS陀螺仪协同标定
|
摘要
当无人水下航行器(UUV)协同导航水声通信在短时失效情况下协同导航不可用时,由于从UUV配备的三轴地磁传感器与两轴微机电(MEMS)陀螺仪组合姿态传感器中的MEMS陀螺仪陀螺漂移较大,导致从UUV航位推算精度较差。基于此,文中提出一种UUV协同导航下MEMS陀螺仪协同标定方法,通过可观测性分析,提出从UUV协同标定的路径设计原则。在协同标定路径下,在线解算两轴MEMS陀螺仪的陀螺漂移并补偿,以提高从UUV自身航位推算精度。仿真结果证明了在UUV协同导航下MEMS陀螺仪协同标定方法的有效性及协同标定路径设计原则的准确性。
When the short-term failure of the underwater acoustic communication of an unmanned undersea vehicle(UUV) disables cooperative navigation, the three-axis geomagnetic sensor and the two-axis micro-electro mechanical system(MEMS) gyroscope's combined attitude sensor equipped to slave UUV gain large gyro drift of the MEMS gyroscope, which leads to poor accuracy of slave UUV dead reckoning. Therefore, a collaborative calibration method of MEMS gyroscope under UUV cooperative navigation is proposed in this study. Through the observability analysis, the path design principle of slave UUV collaborative calibration is proposed. The gyro drift of the two-axis MEMS gyroscope is solved online and compensated from the slave UUV navigation system to improve slave UUV dead reckoning accuracy under the collaborative calibration path. Simulation results demonstrate the effectiveness of collaborative calibration of MEMS gyroscope and the accuracy of collaborative calibration path design principle under UUV cooperative navigation.
When the short-term failure of the underwater acoustic communication of an unmanned undersea vehicle(UUV) disables cooperative navigation, the three-axis geomagnetic sensor and the two-axis micro-electro mechanical system(MEMS) gyroscope's combined attitude sensor equipped to slave UUV gain large gyro drift of the MEMS gyroscope, which leads to poor accuracy of slave UUV dead reckoning. Therefore, a collaborative calibration method of MEMS gyroscope under UUV cooperative navigation is proposed in this study. Through the observability analysis, the path design principle of slave UUV collaborative calibration is proposed. The gyro drift of the two-axis MEMS gyroscope is solved online and compensated from the slave UUV navigation system to improve slave UUV dead reckoning accuracy under the collaborative calibration path. Simulation results demonstrate the effectiveness of collaborative calibration of MEMS gyroscope and the accuracy of collaborative calibration path design principle under UUV cooperative navigation.
引文
[1]Fernández J C,Martinez-De-Dios J R,Maza I,et al.Ten Years of Cooperation between Mobile Robots and Sensor Networks[J].International Journal of Advanced Robotic Systems,2015,12(6):1-12.
[2]刘亚龙.多水下航行器协同定位算法研究[D].哈尔滨:哈尔滨工程大学,2015.
[3]卢健,徐德民,张福斌.共同观测环境多UUV协同导航[J].西北工业大学学报,2013,31(3):378-385.Lu Jian,Xu De-min,Zhang Fu-bin.Multi-UUV Collaborative Navigation in Common Observation Environment[J].Journal of Northwestern Polytechnical University,2013,31(3):378-385.
[4]刘明雍.水下航行器协同导航技术[M].北京:国防工业出版社,2014.
[5]Zhang L,Liu M,Xu D,et al.Cooperative Localization and Navigation for Multiple UUVs[J].Journal of System Simulation,2008,20(19):5342-5341.
[6]Georgy J,Noureldin A,Korenberg M J,et al.Modeling the Stochastic Drift of a MEMS-based Gyroscope in Gyro/odometer/GPS Integrated Navigation[J].IEEE Transactions on Intelligent Transportation Systems,2010,11(4):856-872.
[7]王如胜.MEMS陀螺捷联惯导系统标定方法研究[D].哈尔滨:哈尔滨工业大学,2015.
[8]严露华.协同网络下微惯性导航系统误差补偿技术研究[D].哈尔滨:哈尔滨工程大学,2014.
[9]张永清,张福斌,张立川.基于距离量测的主从式AUV协同定位方法[J].火力与指挥控制,2011,36(11):206-208.Zhang Yong-qing,Zhang Fu-bin,Zhang Li-chuan.Cooperative Navigation of Leader-Follower AUV Based on Range-mersure[J].Fire and Command Control,2011,36(11):206-208.
[10]闫爱天,陈雄,周长省,等.基于地磁传感器与陀螺仪的姿态测量法[J].弹箭与制导学报,2016,36(2):143-146.Yan Ai-tian,Chen Xiong,Zhou Chang-sheng,et al.Attitude Measurement Based on Magnetometer and MEMSGyroscope[J].Journal of Projectiles,Missiles and Guidance,2016,36(2):143-146.
[11]Fallon M F,Papadopoulos G,Leonard J J.Cooperative AUV Navigation Using a Single Surface Craft[C]//Field and Service Robotics,Results of the International Conference,Fsr 2009,Cambridge,Massachusetts,USA:DBLP,2010:331-340.
[12]李闻白,刘明雍,张立川,等.单领航者相对位移测量的多自主水下航行器协同导航[J].兵工学报,2011,32(8):1002-1007.Li Wen-bai,Liu Ming-yong,Zhang Li-chuan,et al.Cooperative Navigation for Multiple Autonomous Underwater Vehicles Based on Relative Displacement Measurement with a Single Leader[J].2009,32(8):1002-1007.
[13]Long K K,Dang-Ngoc H,Do-Hong T.Improving Iterated Extended Kalman Filter for Non-Gaussian Noise Environments[C]//International Forum on Strategic Technology.Harbin,China:IEEE,2011:1114-1117.
[14]胡安平,高锐,张建春.水声测距技术研究[J].现代导航,2014(5):357-361.Hu An-ping,Gao Rui,Zhang Jian-chun.Study of Acoustic Underwater Ranging Technology[J].Modern Navigation,2014(5):357-361.
[15]曾浩瀚.多舰艇协同导航误差分析与算法研究[D].哈尔滨:哈尔滨工程大学,2013.
[2]刘亚龙.多水下航行器协同定位算法研究[D].哈尔滨:哈尔滨工程大学,2015.
[3]卢健,徐德民,张福斌.共同观测环境多UUV协同导航[J].西北工业大学学报,2013,31(3):378-385.Lu Jian,Xu De-min,Zhang Fu-bin.Multi-UUV Collaborative Navigation in Common Observation Environment[J].Journal of Northwestern Polytechnical University,2013,31(3):378-385.
[4]刘明雍.水下航行器协同导航技术[M].北京:国防工业出版社,2014.
[5]Zhang L,Liu M,Xu D,et al.Cooperative Localization and Navigation for Multiple UUVs[J].Journal of System Simulation,2008,20(19):5342-5341.
[6]Georgy J,Noureldin A,Korenberg M J,et al.Modeling the Stochastic Drift of a MEMS-based Gyroscope in Gyro/odometer/GPS Integrated Navigation[J].IEEE Transactions on Intelligent Transportation Systems,2010,11(4):856-872.
[7]王如胜.MEMS陀螺捷联惯导系统标定方法研究[D].哈尔滨:哈尔滨工业大学,2015.
[8]严露华.协同网络下微惯性导航系统误差补偿技术研究[D].哈尔滨:哈尔滨工程大学,2014.
[9]张永清,张福斌,张立川.基于距离量测的主从式AUV协同定位方法[J].火力与指挥控制,2011,36(11):206-208.Zhang Yong-qing,Zhang Fu-bin,Zhang Li-chuan.Cooperative Navigation of Leader-Follower AUV Based on Range-mersure[J].Fire and Command Control,2011,36(11):206-208.
[10]闫爱天,陈雄,周长省,等.基于地磁传感器与陀螺仪的姿态测量法[J].弹箭与制导学报,2016,36(2):143-146.Yan Ai-tian,Chen Xiong,Zhou Chang-sheng,et al.Attitude Measurement Based on Magnetometer and MEMSGyroscope[J].Journal of Projectiles,Missiles and Guidance,2016,36(2):143-146.
[11]Fallon M F,Papadopoulos G,Leonard J J.Cooperative AUV Navigation Using a Single Surface Craft[C]//Field and Service Robotics,Results of the International Conference,Fsr 2009,Cambridge,Massachusetts,USA:DBLP,2010:331-340.
[12]李闻白,刘明雍,张立川,等.单领航者相对位移测量的多自主水下航行器协同导航[J].兵工学报,2011,32(8):1002-1007.Li Wen-bai,Liu Ming-yong,Zhang Li-chuan,et al.Cooperative Navigation for Multiple Autonomous Underwater Vehicles Based on Relative Displacement Measurement with a Single Leader[J].2009,32(8):1002-1007.
[13]Long K K,Dang-Ngoc H,Do-Hong T.Improving Iterated Extended Kalman Filter for Non-Gaussian Noise Environments[C]//International Forum on Strategic Technology.Harbin,China:IEEE,2011:1114-1117.
[14]胡安平,高锐,张建春.水声测距技术研究[J].现代导航,2014(5):357-361.Hu An-ping,Gao Rui,Zhang Jian-chun.Study of Acoustic Underwater Ranging Technology[J].Modern Navigation,2014(5):357-361.
[15]曾浩瀚.多舰艇协同导航误差分析与算法研究[D].哈尔滨:哈尔滨工程大学,2013.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |