修正Kalman滤波技术在复杂环境DVL标定中的应用研究

Study on the Application of Modified Kalman Filtering Technology for DVL Calibration in Complex Environment

摘要:

声学多普勒计程仪的安装偏角误差和比例因子误差是影响水下自主导航精度的主要误差源，需要进行精确误差标定。然而任何声呐性能均与海洋环境密切相关，如何实现复杂环境精确标定是计程仪工程应用中面临的实际问题。为此，在分析真实测速数据统计分布基础上，提出了一种基于修正 Kalman 滤波预处理的误差校准方法，并与标准 Kalman 滤波预处理方法的校准性能进行了比对；试验结果验证了新方法的有效性，降低了对标定试验场地的要求，大幅提高了校准效率。

关键词:声学多普勒计程仪;安装校准;Levy 分布;Kalman 滤波

Abstract:

The installation bias angle error and the scale factor error of the acoustic Doppler log are the main error sources that affect the underwater autonomous navigation accuracy，which needs accurate error calibration. However，any sonar performance is closely related to the marine environment. How to achieve accurate calibration in complex environment is a practical problem for log engineering application. Therefore，based on the analysis of the statistical distribution of real velocity measurement data，this paper proposes an error calibration method based on modified Kalman filter preprocessing，and compares it with the standard Kalman filter preprocessing method in terms of calibration performance. The simulation and test results have verified the robustness of the proposed method， effectively reduced the requirements for calibration test site，and greatly improved the calibration efficiency.

Key words:acoustic Doppler velocity log;installation calibration;Levy distribution;Kalman filter