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Redundancy configuration structure of inertial measurement unit

A technology of inertial measurement unit and redundant configuration, which is applied in directions such as navigation through speed/acceleration measurement, to achieve the effects of increased reliability, reduced design difficulty, and reduced technical risk

Inactive Publication Date: 2013-12-18
哈尔滨航士科技发展有限公司
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Problems solved by technology

Its autonomy is high, but navigation errors accumulate over time, so MAUV needs to surface after a period of time to receive GPS or Beidou signals to correct the inertial navigation system

Method used

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  • Redundancy configuration structure of inertial measurement unit

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Embodiment Construction

[0018] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0019] Since the navigation error of the MAUV accumulates over time, it is necessary to surface at intervals to receive GPS or Beidou signals to correct the inertial navigation system. Usually the GPS or Beidou receiver is installed on the head of the MAUV. The correction process requires the MAUV to be kept almost vertical to the horizontal plane. At this time, the pitch angle is close to 90°. Refer to figure 1 (The picture on the left is a schematic diagram of a normal phenomenon, and the picture on the right is a schematic diagram of a strange phenomenon), the heading angle and roll angle cannot be determined (s...

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Abstract

The invention discloses a redundancy configuration structure of an inertial measurement unit. According to the redundancy configuration structure of the inertial measurement unit, an IMU1 is installed on the lateral side 1 of a regular tetrahedron, the center of the bottom surface of the IMU1 coincides with the center of the lateral side 1, the X1 axis of the IMU1 is parallel to the side BD, the Y1 axis of the IMU1 is perpendicular to the side BD, the X1 axis, Y1 axis and Z1 axis of the IMU1 coincide with the X axis, Y axis and Z axis of a carrier coordinate system respectively, an IMU2 and an IMU3 are embedded in the lateral side 2 and in the lateral side 3 respectively, the center of the bottom surface of the IMU2 coincides with the center of the lateral side 2, the center of the bottom surface of the IMU3 coincides with the center of the lateral side 3, the Z1 axis of the IMU1 is arranged facing the outside and is perpendicular to the lateral side 1, the Z2 axis of the IMU2 and the Z3 axis of the IMU3 are arranged facing the outside and are perpendicular to the lateral 2 and the lateral side 3 respectively, the Y1 axis of the IMU1, the Y2 axis of the IMU2 and the Y3 axis of the IMU3 are all perpendicular to the bottom edges and point to the peaks of the regular tetrahedron, then the X1 axis, the X2 axis and the X3 axis are parallel to the bottom edges, and the redundancy configuration structure with the three IMU modules arranged in an oblique crossing mode is formed. According to the redundancy configuration structure of the inertial measurement unit, MAUV omni-posture navigation is achieved, and reliability of a navigation system is improved remarkably.

Description

technical field [0001] The invention relates to the field of inertial navigation of micro autonomous underwater robots, in particular to a redundant configuration structure of inertial measurement units. Background technique [0002] Micro Autonomous Underwater Vehicle (MAUV) is an autonomous submersible with self-contained power and can operate according to the design program. Due to its low cost, power consumption and power consumption requirements, Therefore, the underwater navigation method adopts the combination of MEMS inertial navigation system, geomagnetic navigation and Doppler log. MAUV has no direct connection with the water surface. During operation, it receives simple instructions from the water surface through the acoustic communication system and then changes course, depth, and collects data. MAUV can perform a series of operations such as deep-sea search, observation, identification, sampling, and salvage. It is an "intelligent robot" with high safety, light...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
Inventor 何昆鹏夏建邵玉萍张晓宇张庆许德新张兴智胡文彬韩继韬刘辉煜
Owner 哈尔滨航士科技发展有限公司
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