Measuring method for underwater navigation attitudes

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...

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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 existing Some patents and articles use the water velocity as the observation of the combined filter of the submersible to estimate the error of SINS during the underwater navigation stage of the submersible. The filter will diverge due to the existence of the ocean current velocity, and the estimation will fail (filter Ground speed is required as an observation, and water speed is equal to ground speed minus ocean current speed)

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