Correction method of electronic compass in underwater vehicle

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...

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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 generally large in size and weigh hundreds of kg, it is not very convenient and practical to rotate the underwater vehicle horizontally; third, the calibration takes a lot of time, which prolongs the time and economic cost of the underwater vehicle test

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