Position Matching Method for Underwater Vehicle Terrain-assisted Inertial Navigation System
A technology of inertial navigation system and underwater submersible, which is applied in the field of position matching of the terrain-aided inertial navigation system of underwater submersibles, can solve the problem of incorrect range of search area, etc., and achieve the effect of eliminating failure and overcoming failure.
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[0031] The technical solutions of the present invention will be described in detail below, but the protection scope of the present invention is not limited to the embodiments.
[0032] Such as figure 1 As shown, the traditional terrain-aided inertial navigation system generally includes three modules A, B and C. The main purpose of module A is to use the depth gauge and multi-beam scanning depth sounder equipped with the underwater vehicle to measure the water depth value of the navigation area of the underwater vehicle; the main purpose of module B is to use the inertial navigation system equipped with the underwater vehicle The output position information of the C module is used to calculate the distance between adjacent measurement moments, and combine the existing charts to obtain the chart search area; the purpose of the C module is to use the matching algorithm to finally obtain the position estimate of the underwater vehicle and correct the inertial navigation The po...
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