Auv integrated navigation system based on sins/dvl/gps

An integrated navigation system and GPS receiver technology, applied in the field of AUV integrated navigation system, can solve the problems of inaccurate precision filtering model, inaccurate SINS system navigation and positioning error, Kalman filtering accuracy decline, etc., so as to overcome the inaccurate filtering model. Effect
CN103744098BActive Publication Date: 2017-03-15SOUTHEAST UNIV
6 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SOUTHEAST UNIV
Publication Date
2017-03-15

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses a ship's inertial navigation system (SINS) / Doppler velocity log (DVL) / global positioning system (GPS)-based autonomous underwater vehicle (AUV) combined navigation system, which comprises an SINS, a GPS receiver, a DVL and a data fusion center, wherein the SINS, the GPS receiver, the DVL and the data fusion center are arranged on an AUV; when the AUV is positioned on the water surface, an optimized filter module carries out filtering fusion calculation by combining navigation information of the SINS, a pseudo-range and a pseudo-range rate corresponding to the SINS and available ephemeris data output by the GPS receiver to obtain correction information; when the AUV is positioned underwater, the optimized filter module carries out filtering fusion calculation by combining the navigation information output by the SINS and three-dimensional navigational speed information output by the DVL to obtain correction information. The navigational positioning accuracy and the robustness of the system are improved, and the system realizes an uninterrupted high-accuracy underwater and water surface carrier navigating and tracking function.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to an AUV combined navigation system based on SINS / DVL / GPS, which can be used for navigation, tracking and positioning of underwater submersibles and surface vehicles. Background technique

[0002] AUV (Autonomous Underwater Vehicle) is an important tool for exploring, developing and utilizing marine environmental resources, and also plays an important role in marine military applications. Because of its long-distance, concealment and autonomy, the navigation problem of AUV is still one of the main technical challenges. Due to the complex underwater environment, the integrated navigation method is often used to navigate and position the AUV, and the filter design of the integrated navigation system is the key to ensure the navigation accuracy. At present, the navigation and positioning accuracy of conventional AUVs can reach about <0.8nmile / h, which meets the accuracy requirements of AUV navigation and positioning to a certain...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More