Underwater glider navigation system and high-precision attitude estimation method

A technology for underwater gliders and navigation systems, which is applied in directions such as navigation through speed/acceleration measurement, can solve the problems of increased measurement errors of MEMS devices, reduced navigation solution accuracy and reliability, etc., to improve computing and shorten system integration. Time, effect of simplified inertial coordinate system alignment
CN106767792AInactive Publication Date: 2017-05-31SOUTHEAST UNIV
9 Cites 9 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SOUTHEAST UNIV
Publication Date
2017-05-31
Estimated Expiration
Not applicable · inactive patent

Smart Images

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

Abstract

The invention discloses an underwater glider navigation system and a high-precision attitude estimation method. The underwater glider navigation system mainly comprises an inertial unit and an external host processor, wherein an inertial system with high integration density is adopted, and a triaxial magnetometer, a triaxial accelerometer, a three-axis gyroscope and a pressure sensor are arranged inside. The method comprises the steps of initializing, then sampling, processing, calibrating, and loading data of the sensor into an output register through an SPI (Serial Peripheral Interface); embedded compensation, thus quickly and effectively acquiring data from the SPI after powering on; using a data processing unit with high performance to process an entry address of an auxiliary kernel as special data in a multi-kernel mapping file, thus enabling other kernels to be triggered more easily. The underwater glider navigation system provided by the invention has the complete and integrated sensor part, supports high-performance navigation, and meets the platform stable control application requirement. In regard to on-line accelerated speed and vibration accelerated speed noise suppression, because of high-precision calibration, the system can provide high-precision information in a complicated and changeable underwater environment, and the complexity and the cost are remarkably reduced.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to an underwater glider navigation system and a high-precision attitude estimation method, which are used to provide long-duration high-precision navigation attitude measurement and positioning information for the glider in a complex underwater environment. Background technique

[0002] When an underwater glider (Autonomous Underwater Glider, AUG) performs various underwater tasks, it is required that the navigation, guidance and control systems can coordinate with each other to achieve normal operation. Among them, the navigation system provides information such as attitude and position for the AUG. The guidance system uses the output of the navigation system, and considers the mission objectives and the underwater operating environment to formulate a suitable trajectory for the AUG. The control system is responsible for making the AUG navigate according to the path planned by the guidance system. Therefore, the importance of t...

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