波束故障条件下基于ST-EKF的SINS/DVL紧组合导航优化方法  

Optimization method of SINS/DVL tightly integrated navigation based on the ST-EKF under beam fault conditions

作　　者：冉昌艳 祝执[3,4] 王伟 罗志会 朱倚娴[5] RAN Changyan;ZHU Zhi;WANG Wei;LUO Zhihui;ZHU Yixian(Hubei Engineering Research Center of Weak Magnetic-field Detection,China Three Gorges University,Yichang 443002,China;College of Science,China Three Gorges University,Yichang 443002,China;Hubei Key Laboratory of Intelligent Vision Monitoring for Hydroelectric Engineering,Yichang 443002,China;College of Computer and Information Technology,China Three Gorges University,Yichang 443002,China;School of Mechanical Engineering,Nantong University,Nantong 226019,China)

机构地区：[1]三峡大学湖北省弱磁探测工程技术研究中心,宜昌443002 [2]三峡大学理学院,宜昌443002 [3]湖北省水电工程智能视觉监测重点实验室,宜昌443002 [4]三峡大学计算机与信息学院,宜昌443002 [5]南通大学机械工程学院,南通226019

出　　处：《中国惯性技术学报》2023年第10期996-1003,共8页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(61903204);湖北省水电工程智能视觉监测重点实验室开放基金(2020SDSJ07)。

摘　　要：针对基于扩展卡尔曼滤波(EKF)的捷联惯性导航系统/多普勒测速仪(SINS/DVL)紧组合导航系统中出现波束故障时,采用波束频移信息重构的故障处理方案会引起量测噪声特性变化,导致导航精度降低的问题,提出了一种波束故障条件下基于状态变换扩展卡尔曼滤波(ST-EKF)的SINS/DVL紧组合导航优化方法。根据四波束Janus阵列的结构特性,提出适用于紧组合导航系统的目标函数,并采用粒子群优化算法对系统噪声协方差矩阵和量测噪声协方差矩阵进行实时优化。仿真实验结果表明,与基于EKF的SINS/DVL紧组合导航系统相比,所提方法的定位精度提高了70.4%,有效提高了波束故障条件下组合系统的导航精度。Aiming at the problem that when the beam fault occurs in the strapdown inertial navigation system/Doppler velocity log(SINS/DVL)tightly integrated navigation system based on extend Kalman filter(EKF),the fault processing scheme using beam frequency shift information reconstruction will cause the change of measurement noise characteristics and result in the reduction of navigation accuracy,an optimization method of SINS/DVL tightly integrated navigation based on state transformation extend Kalman filter(ST-EKF)under beam fault conditions is proposed.According to the structural characteristics of the four-beam Janus array,an objective function suitable for the tightly integrated navigation system is proposed,and the system noise covariance matrix and measurement noise covariance matrix are optimized by particle swarm optimization algorithm.The simulation results show that compared with the SINS/DVL tightly integrated navigation system based on EKF,the positioning accuracy of the proposed method is improved by 70.4%,which effectively improves the navigation accuracy of the integrated system under the condition of beam fault.

关 键 词：捷联惯性导航系统/多普勒测速仪紧组合导航 状态变换扩展卡尔曼滤波 粒子群优化 波束多普勒频移重构 

分 类 号：U666.1[交通运输工程—船舶及航道工程]