CN103712625A - Method for estimating initial heading deviation filtering - Google Patents

Method for estimating initial heading deviation filtering Download PDF

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Publication number
CN103712625A
CN103712625A CN201310713137.7A CN201310713137A CN103712625A CN 103712625 A CN103712625 A CN 103712625A CN 201310713137 A CN201310713137 A CN 201310713137A CN 103712625 A CN103712625 A CN 103712625A
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ship
boat
slave
initial heading
heading deviation
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徐博
金辰
刘杨
单为
邱立民
董海波
白金磊
陶冠时
易楚伟
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Harbin Engineering University
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Harbin Engineering University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

Abstract

The invention discloses a method for estimating the initial heading deviation filtering. The method for estimating the initial heading deviation filtering comprises the following steps: preparing two main boats equipped with high-precision inertial navigation equipment to send subaqueous sound ranging signals with time stamps to a slave boat alternatively; carrying out dead reckoning by the slave boat by utilizing the speed measured by a Doppler velocimeter and the heading measured by an MEMS (Micro-electromechanical Systems) gyroscope, and calculating the distance between each main boat and the slave boat by multiplying the time difference of sending and receiving submarine sound signals and the sound velocity; updating and amending the position of the slave boat by using Kalman filter algorithm, estimating and compensating the initial heading deviation of the gyroscope. According to the method, through the radio broadcasting positional information of the main boat, the slave boat passively receives radio signals transmitted by the main boat, so that the expansibility is improved, and the condition of multiple slave boats can be simulated by using two main boats and one slave boat; the slave boat is provided with low-precision inertial navigation equipment for pushing, and the high-precision inertial navigation equipment of the main boat is utilized by measuring the distance between the slave boat and each main boat, thus the positioning precision is improved, and the equipment cost is greatly reduced.

Description

A kind of method of estimating initial heading deviation filtering
Technical field
The invention belongs to many unmanned boats collaborative navigation field of locating technology, relate in particular to a kind of method of estimating initial heading deviation filtering.
Background technology
The collaborative navigation of many unmanned boats is the high precision navigation informations that utilize other ships in system, by certain message exchange, realizes sharing of the resource of navigating between ship, and the ship of equipping low precision navigator can improve the navigation accuracy of self.When some ship is lost self-contained navigation ability due to sensor or environmental factor, collaborative navigation can recover the homing capability of these platforms to a certain extent.Therefore the collaborative navigation of studying unmanned water surface ship has important theory value and practical significance.Underwater sound communication can be realized and disposing respectively following location and the proceed in formation of ship, and its dependence is little.Subaqueous sound ranging method measurement range can reach 2km～6km, and distance accuracy is in 1m.Motion state for carrier does not all have harsh requirement with the precision aspect of uniting in time.Therefore, underwater sound devices broadcasting mode communicates, and the method for uniting while adopting underwater sound equipment to be aided with radio is found range.
Lower from the inertial navigation equipment precision of ship, by measuring and be equipped with the distance of the captain boat of High Accuracy Inertial equipment, adopt EKF method to revise the flight path pushing of self, estimate and compensate initial heading deviation, improve positioning precision.Because MEMS gyro cannot carry out initial alignment, initial heading deviation is random.In order to improve observability, consider that two captain boats are alternately to sending ranging information from ship.
Up to the present, also not using course deviation as state and carry out the precedent of Kalman filtering using principal and subordinate's ship distance as observed quantity.
Summary of the invention
The object of the embodiment of the present invention is to provide a kind of method of estimating initial heading deviation filtering, is also intended to solve at present not using course deviation as state and using principal and subordinate's ship distance as observed quantity, carries out the problem of Kalman filtering.
The embodiment of the present invention is achieved in that a kind of method of estimating initial heading deviation filtering, and the method for this estimation initial heading deviation filtering comprises the following steps:
Step 1, all relevant devices are arranged on from ship, read MEMS gyro output course as static data and preserve, after one hour, captain boat equipment installs, start experiment, three ships keep delta formation while sailing on the water, two captain boats alternately send to water sound communication signal and transmitting time stamp from ship, 10 seconds, interval, underwater sound communication module from ship receives the ranging information that captain boat is sent, by the mistiming of underwater sound signal sending and receiving, be multiplied by the distance of velocity of sound calculating principal and subordinate ship, utilize speed and the course measured to carry out reckoning, and the distance of utilizing principal and subordinate's ship is as observed quantity correction position information and estimate initial heading deviation,
Step 2, set up system equation
Figure BSA0000099317860000021
In formula, x k, y kexpression from ship at k position constantly, v kfor from ship speed, t represents the pushing time interval,
Figure BSA0000099317860000022
represent the course that MEMS gyro records, represent initial heading deviation, in equation estimated value correction course measured value
Figure BSA0000099317860000024
deviation, be expressed as:
X k+1＝f(X k，u k，t)+w k
After linearization,
X k+1＝F kX k+B ku k+w k
In formula,
Figure BSA0000099317860000025
system noise w k～N (0, Q k),
Figure BSA0000099317860000026
Step 3, set up measurement equation:
Z k = r = h ( X k ) = ( x a - x b ) 2 + ( y a - y b ) 2 + V k = HX + V k
In formula, observed quantity Z kthe distance r that represents principal and subordinate's ship, x a, y athe position that represents captain boat, x b, y bexpression is from ship position, H = ∂ h ∂ X = ( x b - x a ) / r ( y b - y a ) / r 0 , V k-N (0, R k) for measuring noise;
Step 4, with EKF correction from ship pushing error;
(1) time upgrades
X ^ k / k - 1 = F k X ^ k - 1 P k / k - 1 = F k P k - 1 F k T + B k - 1 Q k - 1 B k - 1 T
(2) measure and upgrade
K k = P k / k - 1 H k T ( H k P k / k - 1 H k T + R k ) - 1 X ^ k = X ^ k / k - 1 + K k ( Z k - H k X ^ k / k - 1 ) P k = ( I - K k H k ) P k / k - 1
In formula, P k = E [ ( X K - X ^ k ) ( X k - X ^ k ) T ] ,
Figure BSA0000099317860000036
for the state estimation of filtering output,
Figure BSA0000099317860000037
p k/k-1for state and and variance one-step prediction, K kfor filter gain.
Further, in step 4, because GPS is easily interfered, when can not receive gps signal or gps signal appearance mistake, a computing time is new portion more, i.e. reckoning, do not calculate and measure more new portion, after receiving correct gps signal, then the time of carrying out renewal and measure to upgrade, by the distance of principal and subordinate's ship to upgrading correction from the position of ship.
The method of estimation provided by the invention initial heading deviation filtering, by being housed, two captain boats of High Accuracy Inertial equipment replace to send the subaqueous sound ranging signal that is added with timestamp from ship, reckoning is carried out in the course that utilizes speed that Doppler anemometer records and MEMS gyro to record from ship, and be multiplied by the distance that the velocity of sound is calculated principal and subordinate's ship by the mistiming of underwater sound signal sending and receiving, use EKF algorithm to upgrading and revise from the position of ship, estimate and compensate the initial heading deviation of gyro;
The present invention has the following advantages:
1, due to captain boat radio broadcasting positional information, radio signal from the transmitting of ship passive receive captain boat, so can increase arbitrarily from the quantity of ship, can not affect the design of experimental procedure, so extendability of the present invention is fine, with two captain boats and, from ship, can simulate many situations from ship;
2, from ship, low precision inertial navigation equipment (as MEMS) is installed and is carried out pushing, and utilize the High Accuracy Inertial equipment of captain boat to improve positioning precision by the distance of measurement and captain boat, greatly reduce the cost of equipment.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of the estimation initial heading deviation filtering that provides of the embodiment of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Below in conjunction with drawings and the specific embodiments, application principle of the present invention is further described.
As shown in Figure 1, the method for the estimation initial heading deviation filtering of the embodiment of the present invention comprises the following steps:
S101: two captain boats preparing High Accuracy Inertial equipment is housed are alternately to send the subaqueous sound ranging signal that is added with timestamp from ship;
S102: reckoning is carried out in the course that utilizes speed that Doppler anemometer records and MEMS gyro to record from ship, and be multiplied by the distance that the velocity of sound is calculated principal and subordinate's ship by the mistiming of underwater sound signal sending and receiving;
S103: use Kalman filtering algorithm to upgrading and revise from the position of ship, estimate and compensate the initial heading deviation of gyro.
Concrete steps of the present invention are:
Scheme is: two captain boat broadcast radio signal
Step 1, system are installed and configuration
High Accuracy Inertial equipment and underwater sound communication module are housed respectively on two captain boats, two captain boats alternately send to water sound communication signal and transmitting time stamp from ship, 10 seconds, interval, Doppler anemometer from ship provides velocity magnitude, MEMS gyro provides course, underwater sound communication module from ship receives the ranging information that captain boat is sent, and utilizes the computer carrying on ship to carry out reckoning and filtering, calculates longitude and latitude position, place and estimates initial heading deviation;
Step 2, specific implementation method
All relevant devices are arranged on from ship, read MEMS gyro output course as static data and preserve, after one hour, captain boat equipment installs, start experiment, three ships keep delta formation while sailing on the water, observability when raising is found range from ship, two captain boats alternately send to water sound communication signal and transmitting time stamp from ship, 10 seconds, interval, underwater sound communication module from ship receives the ranging information that captain boat is sent, by the mistiming of underwater sound signal sending and receiving, be multiplied by the distance of velocity of sound calculating principal and subordinate ship, utilize speed and the course measured to carry out reckoning, and the distance of utilizing principal and subordinate's ship is as observed quantity correction position information and estimate initial heading deviation,
Step 3, set up system equation
Figure BSA0000099317860000051
In formula, x k, y kexpression from ship at k position constantly, v kfor from ship speed, t represents the pushing time interval,
Figure BSA0000099317860000052
represent the course that MEMS gyro records,
Figure BSA0000099317860000053
represent initial heading deviation, in equation with its estimated value correction course measured value deviation, be expressed as general type and obtain:
X k+1＝f(X k，u k，t)+w k (2)
After linearization,
X k+1＝F kX k+B ku k+w k (3)
In formula,
Figure BSA0000099317860000055
system noise w k～N (0, Q k),
Step 4, set up measurement equation,
Z k = r = h ( X k ) = ( x a - x b ) 2 + ( y a - y b ) 2 + V k = HX + V k - - - ( 4 )
In formula, observed quantity Z kthe distance r that represents principal and subordinate's ship, x a, y athe position that represents captain boat, x b, y bexpression is from ship position, H = ∂ h ∂ X = ( x b - x a ) / r ( y b - y a ) / r 0 , V k-N (0, R k) for measuring noise;
Step 5, with EKF correction from ship pushing error;
(1) time upgrades
X ^ k / k - 1 = F k X ^ k - 1 P k / k - 1 = F k P k - 1 F k T + B k - 1 Q k - 1 B k - 1 T - - - ( 5 )
(2) measure and upgrade
K k = P k / k - 1 H k T ( H k P k / k - 1 H k T + R k ) - 1 X ^ k = X ^ k / k - 1 + K k ( Z k - H k X ^ k / k - 1 ) P k = ( I - K k H k ) P k / k - 1 - - - ( 6 )
In formula, P k = E [ ( X K - X ^ k ) ( X k - X ^ k ) T ] ,
Figure BSA0000099317860000065
for the state estimation of filtering output,
Figure BSA0000099317860000066
p k/k-1for state and and variance one-step prediction, K kfor filter gain, because GPS is easily interfered, when can not receive gps signal or gps signal appearance mistake, computing time is new portion (being reckoning) more, do not calculate and measure more new portion, after receiving correct gps signal, then the time of carrying out renewal and measure to upgrade, by the distance of principal and subordinate's ship to upgrading correction from the position of ship.
In order to further illustrate validity of the present invention, in urban district, carried out three ship experiments, the method that adopts two captain boats to communicate by letter from ship with, MEMS course deviation is 10 degree, image data track drafting are as follows:
By actual experiment analysis comparison: adopt and estimate that the EKF algorithm of initial heading deviation is more much higher than the positioning precision of simple pushing, what filtering obtained almost fits like a glove from ship track and real trace, and the track that pushing obtains and real trace have deviation; The effect of the initial heading deviation of employing EKF estimation MEMS is fine, has reached the object of correct correction course deviation, thereby has verified that this algorithm improves the validity of positioning precision.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.

Claims (2)

1. a method of estimating initial heading deviation filtering, is characterized in that, the method for this estimation initial heading deviation filtering comprises the following steps:
Step 1, all relevant devices are arranged on from ship, read MEMS gyro output course as static data and preserve, after one hour, captain boat equipment installs, three ships keep delta formation while sailing on the water, two captain boats alternately send to water sound communication signal and transmitting time stamp from ship, 10 seconds, interval, underwater sound communication module from ship receives the ranging information that captain boat is sent, by the mistiming of underwater sound signal sending and receiving, be multiplied by the distance of velocity of sound calculating principal and subordinate ship, utilize speed and the course measured to carry out reckoning, and the distance of utilizing principal and subordinate's ship is as observed quantity correction position information and estimate initial heading deviation,
Step 2, set up system equation:
Figure FSA0000099317850000011
In formula, x k, y kexpression from ship at k position constantly, v kfor from ship speed, t represents the pushing time interval, represent the course that MEMS gyro records,
Figure FSA0000099317850000013
represent initial heading deviation, in equation estimated value correction course measured value
Figure FSA0000099317850000014
deviation, be expressed as:
X k+1＝f(X k，u k，t)+w k
After linearization,
X k+1＝F kX k+B ku k+w k
In formula,
Figure FSA0000099317850000015
system noise w k～N (0, Q k),
Figure FSA0000099317850000016
Step 3, set up measurement equation:
Z k = r = h ( X k ) = ( x a - x b ) 2 + ( y a - y b ) 2 + V k = HX + V k
In formula, observed quantity Z kthe distance r that represents principal and subordinate's ship, x a, y athe position that represents captain boat, x b, y bexpression is from ship position, H = ∂ h ∂ X = ( x b - x a ) / r ( y b - y a ) / r 0 , V k-N (0, R k) for measuring noise;
Step 4, with EKF correction from ship pushing error;
(1) time upgrades:
X ^ k / k - 1 = F k X ^ k - 1 P k / k - 1 = F k P k - 1 F k T + B k - 1 Q k - 1 B k - 1 T
(2) measure and upgrade:
K k = P k / k - 1 H k T ( H k P k / k - 1 H k T + R k ) - 1 X ^ k = X ^ k / k - 1 + K k ( Z k - H k X ^ k / k - 1 ) P k = ( I - K k H k ) P k / k - 1
In formula, P k = E [ ( X K - X ^ k ) ( X k - X ^ k ) T ] , for the state estimation of filtering output,
Figure FSA0000099317850000026
p k/k-1for state and and variance one-step prediction, K kfor filter gain.
2. the method for estimation as claimed in claim 1 initial heading deviation filtering, it is characterized in that, in step 4, because GPS is easily interfered, when can not receive gps signal or gps signal appearance mistake, computing time is new portion more, be reckoning, do not calculate and measure more new portion, after receiving correct gps signal, carry out again time renewal and measure to upgrade, by the distance of principal and subordinate's ship to upgrading correction from the position of ship.
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Publication number Priority date Publication date Assignee Title
CN104034328B (en) * 2014-05-21 2017-03-29 哈尔滨工程大学 A kind of collaborative navigation method combined based on filtering method and curve-fitting method
CN104034328A (en) * 2014-05-21 2014-09-10 哈尔滨工程大学 Cooperative navigation method based on combination of filtering method and curve fitting method
CN104459707A (en) * 2014-12-05 2015-03-25 北京航空航天大学 Online obtaining method for initial position of underwater towed body dead reckoning system
CN106568442A (en) * 2016-10-18 2017-04-19 中冶华天南京电气工程技术有限公司 Synergetic navigation wave filtering method having robust characteristic
CN107525507A (en) * 2016-10-18 2017-12-29 腾讯科技（深圳）有限公司 The decision method and device of driftage
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CN110501029A (en) * 2019-09-26 2019-11-26 哈尔滨工程大学 The online calibration method of MEMS gyroscope load is carried towards cluster aircraft
CN111256709A (en) * 2020-02-18 2020-06-09 北京九曜智能科技有限公司 Vehicle dead reckoning positioning method and device based on encoder and gyroscope
CN114440869A (en) * 2021-12-27 2022-05-06 宜昌测试技术研究所 Double-main AUV switching AUV cluster large-water-depth operation collaborative navigation positioning method
CN114440869B (en) * 2021-12-27 2023-07-04 宜昌测试技术研究所 Collaborative navigation positioning method for AUV cluster large water depth operation switched by double-master AUV

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