Combined navigation system of small-scale underwater vehicle and method thereof

Abstract

The invention discloses a combined navigation system of small-scale underwater vehicle and a method thereof. The combined navigation system consists of a strap-down type inertial navigation system, a Doppler navigation system, a terrain aided navigation system and a magnetic compass. The method comprises the following steps: judging whether each navigation system operates normally through fault diagnosis, adopting a multi-level laminated structure, combining the features of each navigation sensor and obtaining high-precision navigation information for the combined navigation system through information fusion, thereby improving the precision of the combined navigation system. When certain navigation systems fail, the invention can realize the system reconstruction, so that the underwater vehicle can still operate. Therefore, the invention improves the reliability and usability of the combined navigation system of the small-scale underwater vehicle.

Description

technical field [0001] The invention relates to an underwater integrated navigation system and method, in particular to an integrated navigation system and method of a small underwater vehicle suitable for combat in a new generation of national naval waters. Background technique [0002] With the development of science and technology, modern warfare has put forward newer and higher requirements for weapons and equipment. Due to the limitation of water combat conditions, the underwater vehicles used by special forces cannot be accurately positioned, which greatly limits the combat performance and Effect. The navigation system must provide accurate attitude, heading, speed and position information of the vehicle for a long time, and the precise navigation capability is also a key technology for the effective application and safe recovery of the underwater vehicle. Due to the limitations of the vehicle's own volume, weight, energy usage conditions, the particularity of the wat...

AI Technical Summary

Problems solved by technology

The existing integrated navigation system architecture is mainly centralized and distributed. The centralized structure is to send all the measurement data of the navigation system to a central processor for processing and fusion, data alignment, data interconnection and filtering. This structure requires a data transmission bus with a wide frequency band to transmit high-speed raw data. Data interconnection is difficult, and the system must have a large capacity. The calculation burden is heavy, and a central processing unit with strong processing power is required. Therefore, the system The survivability is poor; the existing distributed structure mainly adopts the federated filtering structure, such as figure 1 As shown, its characteristic is: before the measurement information of n systems is transmitted to the main filter, it is first sent to the local filter for local filtering processing, and then the processed information and reference navigation system information are sent to the main filter to form a global Estimated to improve the accuracy of the navigation system, although this structure has lower requirements on channel capacity, once the reference navigation system fails, the entire navigation system will fail

Therefore, the use of centralized or distributed architecture, combined with the characteristics of inertial navigation system, Doppler navigation system, terrain-aided navigation system and magnetic compass to form an integrated navigation system for underwater vehicles cannot meet the requirements of the new generation of naval underwater combat. High precision, high reliability and high availability needs of navigation system architecture

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