| INS/DVL组合导航安装偏差的双矢量标定方法 |
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| 引用本文： | 吴应为,王秋滢,孙希君,蔡沐春.INS/DVL组合导航安装偏差的双矢量标定方法[J].中国海洋平台,2023(1):44-49. |
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| 作者姓名： | 吴应为 王秋滢 孙希君 蔡沐春 |
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| 作者单位： | 1. 哈尔滨工程大学信息与通信工程学院;2. 哈尔滨工程大学水声工程学院;3. 哈尔滨工程大学水声技术重点实验室 |
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| 基金项目： | 国家自然科学基金(编号：51879046)；;黑龙江省自然科学基金(编号：YQ2019F001)； |
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| 摘 要： | 为提高水上船舶中惯性导航系统/多普勒速度计程仪(Inertial Navigation System/Doppler Velocity Log, INS/DVL)组合导航系统定位精度，提出一种利用GPS定位信息进行矢量计算的安装偏差标定方法，该方法只需船舶以直线沿不同方向航行2段距离，依托GPS下的速度信息进行矢量计算，即可标定INS与DVL之间的安装偏差。试验结果表明，用该方法能够可靠地标定DVL的安装偏差，将标定结果代入评估后，组合导航精度得到有效提高。
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| 关 键 词： | INS/DVL组合导航 标定 安装偏差 双矢量法 |
Double Vector Calibration Method for INS/DVL Integrated Navigation Installation Deviation |
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| WU Yingwei,WANG Qiuying,SUN Xijun,CAI Muchun.Double Vector Calibration Method for INS/DVL Integrated Navigation Installation Deviation[J].China offshore Platform,2023(1):44-49. |
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| Authors: | WU Yingwei WANG Qiuying SUN Xijun CAI Muchun |
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| Abstract: | In order to improve the positioning accuracy of Inertial Navigation System/Doppler Velocity Log (INS/DVL) integrated navigation system in water ships, a calibration method of installation deviation by GPS positioning information for vector calculation is proposed. This method only needs the ship to navigate two distances along different directions in a straight line, relying on the velocity information under GPS for vector calculation, and the installation deviation between INS and DVL can be calibrated. The test results show that the DVL installation deviation can be reliably calibrated by this method, and the integrated navigation accuracy can be effectively improved by substituting the calibration results into the evaluation. |
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| Keywords: | INS/DVL integrated navigation calibration installation deviation double vector method |
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