Method for measuring speed of ocean current through integrated navigation
A technology of ocean current speed and integrated navigation, which is applied in the field of information measurement, can solve problems such as filtering divergence and measurement failure, and achieve the effect of fastness, high precision, and no lag in measurement results
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[0019] The present invention will be further described below in conjunction with accompanying drawing:
[0020] The SINS / GPS / DVL integrated navigation method of DVL under the water working mode to measure the ocean current velocity, using the strapdown inertial navigation system SINS equipped on the ship, the Doppler log DVL, combined with the ocean current velocity model, works in the integrated navigation state, real-time Measure the speed of ocean currents.
[0021] The error setting of the test condition SINS is: gyro constant value drift ε x =ε y =ε z =0.01°h, the random drift is 0.001°h, and the scale coefficient error is 10 -4 ; The random constant bias of the accelerometer is random drift of 10 -5 g. The ship works in a state of constant speed and direct sailing, with a speed of 10kn and a heading of 135°. Ocean current velocity V Cx =1kn,V Cy =1kn, the parameter β of the ocean current model x =5.4358×10 -5 beta x =5.3291×10 -5 ;
[0022] The SINS, DVL ...
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