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首页> 外文期刊>IEEE Transactions on Vehicular Technology >A Calibration Method of USBL Installation Error Based on Attitude Determination
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A Calibration Method of USBL Installation Error Based on Attitude Determination

机译：基于姿态确定的USBL安装误差校准方法

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摘要

The Ultra-short baseline (USBL) positioning system has important application in the positioning of underwater vehicles. The installation error angle of the USBL positioning system has an important influence on the positioning accuracy of USBL system. The traditional calibration methods have limited estimation accuracy for installation error angles and have high route requirements. To solve the above problems, a calibration method of installation error angle based on attitude determination is proposed in this paper. When strapdown inertial navigation system (SINS) and USBL are fixed together in the application process, the installation error angle of USBL is fixed and unchanged. Then the calibration of installation error angle can be accomplished with the idea of attitude determination. The vector observation model based on the installation error angle matrix is established first. Observation vectors are obtained by the relative position of transponders in the USBL coordinate frame. The reference vector is calculated by position of transponder, position and attitude of SINS and lever arm between SINS and USBL. By constructing the observation vectors and the reference vectors, the proposed method can calibrate the installation error angle of SINS and USBL in real time. The advantages of the proposed method are that it has no specific requirements for the calibration route and can calibrate the installation error angle in real time with high accuracy. In order to verify the performance of the proposed algorithm, simulation experiment and field experiment are carried out in this paper. The results of simulation experiment and field experiment show that the proposed method can give the estimated installation error angle of USBL in real time, and the estimated result is the best among several methods. The proposed method can not only achieve the calibration of the installation error angle in circular trajectory, but also in straight trajectory.
机译：超短基线（USBL）定位系统在水下车辆定位方面具有重要应用。 USBL定位系统的安装误差角对USBL系统的定位精度具有重要影响。传统的校准方法有限制的安装误差角度估计精度，并且具有高路径要求。为了解决上述问题，本文提出了一种基于姿态测定的安装误差角的校准方法。当截头惯性导航系统（SINS）和USBL在应用程序过程中固定在一起时，USBL的安装误差角是固定的，不变的。然后可以通过姿态确定的思想来实现安装误差角的校准。首先建立基于安装误差角矩阵的矢量观测模型。观察载体通过USBL坐标框架中的转发器的相对位置获得。参考矢量通过何种应答器，索林和杠杆臂的位置，位置和杆臂的位置来计算。通过构造观察向量和参考向量，所提出的方法可以实时校准SINS和USBL的安装误差角。该方法的优点是它对校准路线没有具体要求，可以高精度地实时校准安装误差角。为了验证所提出的算法的性能，本文进行了仿真实验和现场实验。仿真实验和现场实验结果表明，该方法可以实时提供USBL的估计安装误差角，估计结果是几种方法中最好的。所提出的方法不仅可以在圆形轨迹中达到安装误差角的校准，还可以在直线轨迹中校准。

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