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Damping method of underwater submersible

An underwater submersible and damping technology, which is applied in the direction of navigation through velocity/acceleration measurement, can solve the problems of damping system error disturbance, large measurement error, and affecting the damping effect of the system, and achieve the effect of reducing the impact

Inactive Publication Date: 2016-05-04
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For some forms of motion, and in some complex motion environments, the speed outside the carrier measured by the speed sensor often has a large measurement error
When the external velocity information with measurement errors is used to damp the inertial navigation system, these errors will cause error disturbances to the damping system, thereby affecting the damping effect of the system

Method used

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  • Damping method of underwater submersible
  • Damping method of underwater submersible
  • Damping method of underwater submersible

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Embodiment Construction

[0011] The implementation of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0012] figure 1 is a flow chart of a damping method for an underwater submersible according to an embodiment of the present invention, such as figure 1 As shown, the method includes:

[0013] Determine the state of motion of the submersible;

[0014] According to the motion state, determine the damping state to be used;

[0015] Damping the submersible using a defined damping state.

[0016] Preferably, determining the damping state used includes: judging whether the motion state belongs to at least one of the following: a turning state, an acceleration state, and an abnormal speed measurement state; if the judgment result is yes, then determining that the damping state to be used is an undamped state; otherwise, Determine the damping state to be used as the normal damping state, where the damping coefficient of the undamped state is 0, a...

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Abstract

The invention provides a damping method of an underwater vehicle, comprising the following steps: determining the motion state of the underwater vehicle; determining a damping state to be used according to the motion state; and damping the underwater vehicle by using the determined damping state. By the damping method, the damping state can be adjusted according to the motion state so as to minimize the impact of external velocity error on a damping system.

Description

technical field [0001] The invention relates to the speed measurement technology of an underwater submersible, in particular to a damping method for an underwater submersible. Background technique [0002] The inertial navigation system is the guarantee for the safe navigation of the underwater submersible, and it is also the information basis of the corresponding weapon system. Different from the application in aviation and aerospace fields, the biggest feature of the inertial navigation system of underwater vehicles is to provide navigation information such as high-precision speed, position and attitude continuously for a long time. The undamped inertial navigation system is a critically stable system with periodic oscillation errors. For underwater vehicles with low acceleration and long service life, these oscillation errors have a great impact on the system. In order to suppress the impact of oscillation errors on the inertial navigation system of underwater vehicles,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 徐博肖永平陈春董海波邱立民刘杨白金磊单为金辰
Owner HARBIN ENG UNIV