SINS/LBL (strapdown inertial navigation systems/long base line) tight combination based AUV (autonomous underwater vehicle) underwater navigation positioning method
A technology of navigation positioning and tight combination, which is applied to the tracking and positioning of underwater autonomous vehicles AUV, and the field of AUV underwater navigation and positioning based on SINS/LBL tight combination
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[0088] The present invention will be further explained below in conjunction with the drawings.
[0089] Such as figure 1 As shown, the present invention is composed of a strapdown inertial navigation system SINS (1) installed on the AUV, a long baseline underwater acoustic positioning system LBL (2) deployed on the seabed, and a data processing unit. The data processing unit includes SINS pairwise primitives and AUV slant distance difference calculation module (3), SINS / LBL tight combination module (4) and correction module (5). The AUV underwater autonomous navigation is completed by using the tight combination of SINS and LBL. The specific implementation steps are as follows:
[0090] (1) For the output data of the inertial measurement unit (IMU), the AUV position information is obtained through strap-down calculation, using the earth coordinate P SINS (L S ,λ S ,h S ) Means, and P SINS (L S ,λ S ,h S ) Is converted to P SINS (x S ,y S ,z S ) Means.
[0091] The SINS(1) system in...
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