Measuring method for underwater navigation attitudes

A measurement method and attitude technology, applied in the field of information measurement, which can solve the problems of filter divergence, inability to use GPS signals, and estimation failure.

Inactive Publication Date: 2013-04-03
HARBIN ENG UNIV
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Problems solved by technology

[0003] When the submersible is operating underwater, the GPS signal cannot be used, and DVL can only provide the water speed
Application number 200810137469.4, titled "AUV Integrated Navigation System Untraceable Switching Method"; published in "Computer Measurement and Control" in 2011 "Research on Half-in-the-loop Simulation Based on SINS/GPS/DVL Integrated Navigation and Positioning", the above results are in line with the...

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  • Measuring method for underwater navigation attitudes
  • Measuring method for underwater navigation attitudes
  • Measuring method for underwater navigation attitudes

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[0027] specific implementation plan

[0028] A SINS / DVL integrated navigation attitude measurement method under the DVL working mode on the water, characterized in that the strapdown inertial navigation system SINS equipped with the submersible, the Doppler log DVL, and the ocean current velocity model are used to work in the integrated navigation status, and measure the attitude information of the submersible in real time. The specific implementation steps are as follows:

[0029] Step 1. The SINS and DVL of the submersible equipment are connected through data transmission cables to ensure smooth transmission of their information;

[0030] Step 2. Collect the sampling values ​​of the gyroscope and accelerometer in the SINS of the submersible, and recursively measure the attitude, velocity and position values ​​of the underwater vehicle.

[0031] The attitude value measured by the submersible SINS includes: heading angle ψ, pitch angle θ, roll angle γ,

[0032] The SINS mea...

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Abstract

The invention relates to an information measuring method and in particular relates to a measuring method for underwater combined navigation attitudes of a strap-down inertial navigation system/a doppler log by the doppler log under an underwater working mode when a submarine navigates underwater. The measuring method comprises the following steps of: connecting the strap-down inertial navigation system and the doppler log of the submarine; measuring the attitude value, the speed value and the position value of the submarine in a recursive manner; recording the speed value at a moment that the submarine starts diving; searching an east parameter beta x of an ocean current model and a north parameter beta y of the ocean current model within a navigation sea area; measuring the speed of the ocean current in the recursive manner; real-timely acquiring the water speed obtained by the doppler log; real-timely measuring attitude errors of the strap-down inertial navigation system; and measuring the accurate attitude value of the strap-down inertial navigation system. After compensating the speed of the ocean current, the measuring method provided by the invention improves the course error angle precision, the pitching error angle precision and rolling error angle precision in different degrees, and improves the combined navigation precision.

Description

technical field [0001] The present invention relates to an information measurement method, specifically a combination of strapdown inertial navigation system\Doppler log under the underwater working mode of a Doppler log when a submersible is navigating underwater attitude measurement method. Background technique [0002] The strapdown inertial navigation system (SINS) has the advantage of working independently, but its navigation error accumulates over time; GPS can provide accurate position information, but its signal will attenuate in the water and cannot be used by submersibles operating underwater; The DVL can provide the speed information of the submersible, but its operating distance is limited. When the distance between the submersible and the seabed is less than its operating distance, DVL works in the ground mode and provides ground speed. When the distance between the submersible and the seabed is When the action distance is greater than its operating distance, D...

Claims

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Application Information

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IPC IPC(8): G01C21/00
Inventor 奔粤阳朱忠军李倩高伟于飞刘新源杨娇龙鲍桂清李敬春周广涛
Owner HARBIN ENG UNIV
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