Navigation system for underwater glider and attitude angle correcting and backtracking decoupling method

Abstract

The invention discloses a navigation system for an underwater glider and an attitude angle correcting and backtracking decoupling method and belongs to the technical field of navigation positioning of the underwater gliders. The combined navigation system comprises a signal processing (DSP) module, a microelectromechanical systems (MEMS), an inertial measurement unit (IMU) and the like. By using pitching or transverse rolling motion, cross coupling of attitude angles (a course angle, a pitching angle and a transverse roll angle) is more obvious; by using the cross coupling among the attitude angles, the output of the attitude angles is inaccurate or even mistaken, and further the calculation of the subsequent speed, position and other navigation information is mistaken; the cross coupling among the attitude angles is eliminated by using an attitude angle backtracking decoupling method based on a backtracking decoupling idea. According to the system design, the demands of the navigation system of the underwater glider on low power consumption, small size and long endurance are met; according to the attitude angle backtracking decoupling method, the cross coupling among the attitude angles is effectively eliminated, the precision of the attitude angles is greatly improved, and the aims of long endurance, low power consumption and high-precision navigation positioning of the underwater glider are achieved.

Description

technical field [0001] The invention relates to a navigation system for an underwater glider and an attitude angle backtracking decoupling method, belonging to the technical field of underwater glider navigation and positioning. Background technique [0002] An underwater glider is an autonomous underwater vehicle that glides with the current by controlling its own buoyancy and attitude angle using intrinsic brakes. Underwater glider has the characteristics of simple structure, low power consumption, and can work underwater for a long time, so it is used for ocean survey, ocean data collection and other operations. In recent years, underwater gliders have become an important part of coastal and open ocean observations. In underwater tasks, accurate position information is crucial, so underwater navigation is a difficult and key issue. [0003] The underwater glider is small in size and low in cost, so too many high-precision underwater navigation sensors cannot be installe...

AI Technical Summary

Problems solved by technology

For an IMU, cross-coupling between the attitude angles (heading, pitch, and roll) due to errors between the mounting axis and the corresponding reference axis, non-zero pitch and roll angles makes the attitude angle The cross-coupling is more obvious, resulting in inaccurate or even wrong calculation of attitude angle and other navigation information

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