A New Method Based on Dual-State Chi-Square Fault-Tolerant to Inertial/Acoustic Range Integrated Navigation System with Single Transponder

摘要

The high precision positioning and navigation of underwater vehicles is one of the key technologies for deep-sea exploration and ocean exploration, the underwater localization systems can be categorized into two main types: Inertial Navigation System (INS) and acoustic positioning system. INS is widely used in underwater navigation on account of its autonomy, however, without the information aiding from additional sensors, the errors of inertial measurement units accumulate with time passes. The acoustic positioning system can be divided into three types: Long Base Line (LBL), Short Base Line (SBL) and Ultra Short Base Line (USBL). They are defined according to the distance between transponders. The short baseline (SBL) positioning system includes more than 3 transponders to form an acoustic array, and the formation of the array is normally triangle or quadrilateral. The distance between the transponder is accurately measured and generally more than 10m. The acoustic array coordinate system is built based on the transponder and its relationship with the carrier coordinate system of the vehicle is determined by conventional method, the main disadvantage of the SBL positioning system is that the baseline length is relatively large in order to achieve high accuracy in deep-water measurement. However, as the lateral length of the vehicles is small, it is difficult to make sure the transponders be placed way from each other, meanwhile it is difficult to calibrate multiple transponders and avoid noise. To solve this problem, this paper present an inertial navigation system and single range navigation system (SRNS) based on one acoustic transponder, the navigation system consist of an acoustic transponder, a pressure transponder and inertial sensors mounted on the vehicle and an answering device transponder which is laoid out at tens of meters deep straight under the buoy. This paper studies the measurement equation's nonlinearity effect of the INS/SRNS, establishes state equation and measurement equation of the INS/SRNS integrated system. To deal with the nonlinear noise problems of transponders, meanwhile, in view that fault detection based on traditional state chi-square hypothesis testing cannot determine the specific cause of the fault, and could only determine the validity of measure information, a new fault detection algorithm based on dual-state method is adopted. The application of this method on underwater integrated navigation system demonstrates that the algorithm can rapidly and accurately detecting and identify the faults in the system. Experiments on QIANDAO Lake show that the proposed method restrains the divergence trend error of the integrated system's navigation, which verify the effectiveness of the single range integrated navigation.