Underwater glider navigation system and high-precision attitude estimation method

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.

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...

AI Technical Summary

Problems solved by technology

[0003] Micro-Electro-Mechanical System (MEMS) technology has played an important role in the widespread use of underwater gliders, but the low-precision MEMS inertial navigation system has low accuracy and reliability in navigation solution in complex and changeable underwater environments. In addition, the high dynamics of the glider in the process of diving and surfacing greatly increase the measurement error of MEMS devices.

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