A SINS/USBL System-Level Installation Parameter Calibration With Improved RDPSO

被引：5
作者：
He, Hongyang [1 ]
Tang, Hongqiong [1 ]
Xu, Jiangning [1 ]
Liang, Yifeng [1 ]
Li, Fangneng [1 ]
机构：
[1] Naval Univ Engn, Dept Nav Engn, Wuhan 430033, Peoples R China
来源：
IEEE SENSORS JOURNAL | 2023年 / 23卷 / 15期
基金：
中国国家自然科学基金;
关键词：
Calibration; particle swarm optimization (PSO); strap-down inertial navigation system (SINS)/ultra-short baseline (USBL) integration; system-level installation parameter (SIP); KALMAN FILTER; NAVIGATION; LOCALIZATION; ERROR;
D O I：
10.1109/JSEN.2023.3288128
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The strap-down inertial navigation system (SINS)/ultra-short baseline (USBL) integrated navigation system has an important application in many underwater navigation situations. Accurate system-level installation parameter (SIP), including installation misalignment angle (IMA), lever arm, and transponder position, is the prerequisite for reliable navigation. Traditional separation-based calibration methods which just calibrate the SIP partially are labor intensive and inconvenient to a certain due to the requirement of prescheduled maneuvers, prelocated transponder, and accurate prior knowledge. This work investigated the SIP calibration of SINS/USBL and proposed an improved random drift particle swarm optimization (RDPSO)-aided approach for identifying the SIPs of SINS/USBL. This methodology implemented a unified calibration for SIPs by minimizing the cost function and eliminating the additional requirements for separation-based calibration methods. Field comparative tests with other methods demonstrated that our approach is capable of effectively calibrating the SIP of SINS/USBL with higher calibration accuracy, better convergence stability and repeatability, and a more expeditious convergence rate, thereby leading to a good performance of the SINS/USBL integrated navigation system.
引用
收藏
页码：17214 / 17223
页数：10
相关论文
共 33 条
[21]   Underwater navigation using a single beacon based on the time delays of the direct signals and the surface-reflected signals [J].
Wang, Yan ;
Zhang, Xinyu ;
Sun, Sibo ;
Wang, Jinjin .
APPLIED ACOUSTICS, 2022, 187
[22]  
Wu Y., 2018, SHIP ELECT ENG, V38, P48
[23]   Maximum correntropy delay Kalman filter for SINS/USBL integrated navigation [J].
Xu, Bo ;
Wang, Xiaoyu ;
Zhang, Jiao ;
Razzaqi, Asghar A. .
ISA TRANSACTIONS, 2021, 117 :274-287
[24]   An IMM-UKF Aided SINS/USBL Calibration Solution for Underwater Vehicles [J].
Yao, Yiqing ;
Xu, Xiaosu ;
Yang, Dongrui ;
Xu, Xiang .
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2020, 69 (04) :3740-3747
[25]  
Yu Min, 2010, 2010 International Conference on Computer Application and System Modeling (ICCASM 2010), P84, DOI 10.1109/ICCASM.2010.5623256
[26]   A fast way of single-beacon localization for AUVs [J].
Yuan, Mingxiao ;
Li, Ye ;
Li, Yueming ;
Pang, Shuo ;
Zhang, Jucheng .
APPLIED OCEAN RESEARCH, 2022, 119
[27]   A calibration method of ultra- short baseline installation error with large misalignment based on variational Bayesian unscented Kalman filter [J].
Zhang, Liang ;
Zhang, Tao ;
Tong, Jin-wu ;
Weng, Cheng-cheng ;
Li, Yao .
REVIEW OF SCIENTIFIC INSTRUMENTS, 2019, 90 (05)
[28]   Mounting Parameter Estimation From Velocity Vector Observations for Land Vehicle Navigation [J].
Zhang, Quan ;
Hu, Yuanqian ;
Li, Shanshan ;
Zhang, Tisheng ;
Niu, Xiaoji .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2022, 69 (04) :4234-4244
[29]   A Student's T-Based Measurement Uncertainty Filter for SINS/USBL Tightly Integration Navigation System [J].
Zhang, Tao ;
Wang, Jian ;
Zhang, Liang ;
Guo, Lin .
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2021, 70 (09) :8627-8638
[30]   A Novel and Robust Calibration Method for the Underwater Transponder Position [J].
Zhang, Tao ;
Zhang, Liang ;
Shin, Hyo-Sang .
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2021, 70
1234