A correction method for electronic compass in underwater vehicle

A technology of underwater vehicle and calibration method, which is applied in compass, instrument, surveying and navigation, etc., can solve the problems of prolonging the time and economic cost of underwater vehicle test, high difficulty, and time-consuming calibration

Active Publication Date: 2011-12-21
ZHEJIANG UNIV
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  • Abstract
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Problems solved by technology

[0017] The shortcomings of the above method are: first, the external conditions are relatively high during operation, and an additional horizontally rotatable platform is required; second, it is difficult to operate, and underwater vehicles are g...

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  • A correction method for electronic compass in underwater vehicle
  • A correction method for electronic compass in underwater vehicle
  • A correction method for electronic compass in underwater vehicle

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Embodiment Construction

[0055] The invention is used for calibrating the electronic compass installed in the underwater vehicle, thereby improving the accuracy of the autonomous navigation of the underwater vehicle.

[0056] General underwater vehicle structure such as figure 1 , the vehicle used in the implementation is about 3 meters in length and about 30 centimeters in diameter. The devices in the cylindrical cabin can be roughly divided into: navigation sensor module, central control module, battery module, and the tail is a push module; the upper part of the aircraft shell is equipped with an Ethernet module interface, and a radio station and a GPS receiving module are installed on the tail fin; A Doppler log is installed on the lower part of the aircraft. All modules are powered by a battery module mounted in the middle. The detailed introduction of each module is as follows:

[0057] The navigation sensor module mainly collects the physical movement information of the aircraft through vari...

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Abstract

The invention discloses a correction method of an electronic compass in an underwater vehicle, which comprises the following steps of: inquiring magnetic declination, and carrying out corrected navigation on the water surface of the vehicle; recording navigation data by a navigation sensor; exporting correction navigation data from a communication module; searching a hard magnetic interference parameter, solving the error surface plot between a correction track and a reference track under the condition of (2N+1)<2> disperse hard magnetic interference parameters, wherein the minimum point corresponding to the surface plot is the search result; according to the set correction precision requirement, repeating and reducing the search range and grid, and re-searching to obtain a more precise hard magnetic interference parameter evaluation value; and finally, applying the searched magnetic parameter evaluation value in the navigation of the underwater vehicle. The method disclosed by the invention has the advantages that the operation is simple, the influence of the outer magnetic interference to the electronic compass in the underwater vehicle can be effectively eliminated and thus, the corrected electronic compass can return back to the corrected attitude angle.

Description

technical field [0001] The invention belongs to the calibration of instruments, and in particular relates to an electronic compass calibration method for reasonably compensating the external hard magnetic interference of the electronic compass so as to minimize the influence of the external magnetic field interference on the navigation accuracy of the underwater vehicle, which can be applied to navigation, positioning and Sonar, radar system motion compensation and other technical fields. Background technique [0002] Underwater vehicles are one of the research hotspots in the field of marine engineering in recent years. They have been widely used in military fields such as underwater environmental monitoring, offshore petroleum engineering operations, underwater search and mapping, and real-time theater alert. The structure used is as figure 1 As shown, the internal module relationship is as figure 2 shown. [0003] Underwater navigation technology is the key to autonom...

Claims

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Application Information

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IPC IPC(8): G01C17/38
Inventor 徐文张博孙锋李建龙
Owner ZHEJIANG UNIV
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