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AUV combined navigation system non-tracing switch method

An integrated navigation system and switching mode technology, applied in the field of AUV integrated navigation system traceless switching technology, can solve the problems of inertial navigation calculation error, filter divergence, etc.

Inactive Publication Date: 2009-03-25
HARBIN ENG UNIV
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Problems solved by technology

Fang Jiancheng et al. "An Adaptive Weighted Feedback Correction Filtering Method for SINS / GPS Integrated Navigation System", proposed a method of using the system state observability as a weighted feedback factor to perform adaptive weighted feedback correction on the SINS system, which is theoretically It is a beneficial scheme to apply combined information to feedback and correct the strapdown inertial navigation. However, although the carrier maneuver can improve the degree of observation, it will produce short-term oscillation of the Kalman filter during the switching period. If it is directly fed back, this part of the factor will even affect the inertial navigation. The solution introduces a large error, and even causes the filter to diverge after the inertial navigation system works for a long time

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  • AUV combined navigation system non-tracing switch method
  • AUV combined navigation system non-tracing switch method
  • AUV combined navigation system non-tracing switch method

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Embodiment Construction

[0048] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0049] combine figure 1 , the AUV integrated navigation system traceless switching technology of the present invention comprises the following steps:

[0050] Step 1. Determine the initial position parameters and initial velocity values ​​of the carrier through an external device.

[0051] Step 2, the carrier sails according to the preset path, and the strapdown inertial navigation system updates the cycle H=t m -t m-1 Inside, collect the angular velocity ω of the carrier output by the gyro relative to the inertial coordinate system, and the specific force f of the carrier output by the accelerometer relative to the inertial coordinate system b , to perform attitude calculation and position velocity calculation, as the output value of the strapdown inertial navigation system.

[0052] Step 3. In the state of direct flight of the carrier, use the SINS / DVL close...

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Abstract

The invention provides a non-trace switch method for an AUV integrated navigation system. In the method, general navigation equipment is used, so that under the condition of not increasing the cost of a strapdown intertial measuring system, by utilizing the advantages of good mobile effect of a DR(dead-reckoning) system, in the switch mode, the AUV adopts the compass / DVL output; meanwhile, the SINS / DVL integrated navigation system adopts a switch mode self-adapting Kalman filtering model to accelerate the filtering convergence; under the condition of direct sailing, the AUV adopts the navigation method of the SINS / DVL integrated navigation system; and when the AUV works underwater, position speed information outputted by the comprehensive navigation system is utilized to make the closed loop correction of the strapdown inertial navigation, thereby inhibiting the Kalman filtering oscillation due to the mode change and better improving the AUV navigation effect.

Description

(1) Technical field [0001] The invention relates to a navigation method, in particular to a traceless switching technology of an AUV integrated navigation system. (2) Background technology [0002] Underwater submersibles are small in size, flexible in mobility, wide in range of activities, high in concealment requirements, and undertake multiple missions, which determines that their navigation system must have the characteristics of autonomy, long-range, concealment, small size, high precision, and long-term work. Ability. The characteristics of autonomy and concealment determine that the AUV navigation system must be based on completely autonomous inertial navigation technology; the strapdown inertial navigation system uses a computer to complete the navigation platform functions to meet the requirements of miniaturization; high precision requires the navigation system to work in a combination In the mode, the inertial navigation system is calibrated by external auxiliary...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/20G01C25/00
Inventor 郝燕玲郭真孙枫高伟奔粤阳徐博
Owner HARBIN ENG UNIV
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