摘要
针对难以精确监测海底挖沟机工作状态的问题,依据捷联惯性导航系统SINS(Strapdown inertial navigation system)以及DVL(Doppler log)水下组合导航技术的原理,建立组合导航模型以及误差模型,根据施工特点设置挖沟施工作业路线,依照挖沟机实际作业状态设置运动参数,并进行仿真实验,验证SINS/DVL技术在海底挖沟机管道铺设作业中的监测能力.结果表明,在铺设海底管道时,SINS/DVL组合导航系统可以实时获取海底挖沟机的工作数据,测量高精度的经纬位置、速度、姿态数据:经、纬度误差控制在±0.02°范围内;速度误差在-0.05~0.10 m/s范围内;俯仰角误差为±0.20°,横滚角误差为±0.20°,航向角误差为±1.00°.
The principle of Strapdown inertial navigation system(SINS)and Doppler Log(DVL)underwater integrated inertial navigation system navigation technology was studied to address the difficulty of accurately monitoring the working state of a submarine trench digger,the integrated navigation model and error model are set up,the trenching route is set up according to the construction characteristics,and the motion parameters are set according to the actual working state of the Trencher,finally,the simulation experiments are carried out to verify the SINS/DVL technology in the submarine trencher pipeline laying monitoring capability.The results show that the SINS/DVL integrated navigation system can obtain the real⁃time working data of the Submarine Trencher,and measure the high⁃precision position,velocity and attitude data of longitude and latitude,the longitude and latitude errors are controlled in the range of±0.02°,the velocity errors are in the range of-0.05 m/s~0.10 m/s,the pitch angle error is less than±0.20°,the roll angle error is less than±0.20°,and the course angle error is less than±1.00°.
作者
赵宁
程志友
朱西河
王怀栋
ZHAO Ning;CHENG Zhi-you;ZHU Xi-he;WANG Huai-dong(School of Shipping and Naval Architecture,Chongqing Jiaotong University,Chongqing 400074,China;CCCC Marine Construction&Development Co.,LTD.,Tianjin 300457,China)
出处
《广州航海学院学报》
2023年第1期24-28,共5页
Journal of Guangzhou Maritime University
