一种基于梯度下降四元数理论的DVL误差标定方法  

DVL error calibration method based on Gradient Descent Quaternion estimation theory

作　　者：徐晓苏[1,2] 杨阳[1,2] 李瑶[1,2] XU Xiaosu;YANG Yang;LI Yao(Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology,Ministry of Education,Southeast University,Nanjing 210096,China;School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)

机构地区：[1]微惯性仪表与先进导航技术教育部重点实验室,南京210096 [2]东南大学仪器科学与工程学院,南京210096

出　　处：《中国惯性技术学报》2019年第4期448-453,共6页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目（51775110）

摘　　要：针对如何快速精确标定出多普勒计程仪(DVL)的比例因子误差以及DVL和捷联惯导(SINS)之间的安装误差角的问题,提出了一种基于梯度下降四元数估计理论的位置观测DVL标定方法。以SINS/DVL/GNSS为组合导航方式,利用多普勒测速原理标定出比例因子误差,通过构造位置矢量观测方程,采用梯度下降四元数方法得到安装误差角的标定结果。通过仿真及试验验证了所提出方法的有效性,并与卡尔曼滤波标定算法进行了比较,结果表明:比例因子估计值误差的最终标定结果在0.06%以内,安装角估计误差最终标定结果在0.05°以内,具有较好的工程应用价值。Aiming at the proportional factor error and installation error of Doppler velocity log(DVL),a position observation calibration method based on gradient descent quaternion estimation theory is proposed.SINS/DVL/GNSS is used as integrated navigation mode,and the proportional factor error is calibrated by using Doppler velocimetry principle.Then,the position vector observation equation is constructed,and the calibration result of installation error angle is obtained by gradient descent quaternion method.Simulation results demonstrate that the final calibration error of scale factor is less than 0.06%,and the final calibration result of installation error angle is less than 0.05°,showing that the algorithm has good engineering application value.

关 键 词：组合导航 梯度下降四元数算法 安装误差角 比例因子误差 

分 类 号：U666.1[交通运输工程—船舶及航道工程]