Underwater anti-shaking alignment method for SINS (strapdown inertial navigation systems)/DVL (Doppler velocimeters) of deep-sea underwater vehicles

Abstract

The invention discloses an underwater anti-shaking alignment method for SINS (strapdown inertial navigation systems) / DVL (Doppler velocimeters) of deep-sea underwater vehicles. The underwater anti-shaking alignment method includes dividing underwater alignment procedures of the deep-sea underwater vehicles into SINS anti-shaking double-vector fixed-attitude self-alignment for the SINS and SVD (singular value decomposition)-based fuzzy adaptive robust CKF (capacity Kalman filtering) filter alignment for the SINS / DVL by large-misalignment-angle nonlinear error models and fine alignment filteringequations which are built according to underwater complicated environments and characteristics of strapdown inertial navigation and four-beam underwater Doppler navigation systems. The underwater anti-shaking alignment method has the advantages that attitude misalignment angles further can be diminished on the basis that the robustness is guaranteed, accordingly, attitude matrixes C<n> are accurate, and attitude of the deep-sea underwater vehicles can be accurately fixed; the problems that the attitude fixing speeds and the precision are deteriorated and even underwater vehicles cannot normally work due to the traditional inertial navigation alignment algorithms when the existing deep-sea underwater vehicles are initially aligned under the conditions of shaking bases and large misalignment angles can be solved by the aid of the underwater anti-shaking alignment method; the deep-sea underwater vehicles can ultimately work for long endurance.

Description

Technical field: [0001] The invention relates to a SINS / DVL underwater anti-shaking alignment method of a deep-sea submersible, belonging to the technical field of navigation. Background technique: [0002] The ocean is rich in resources and energy. During the development process, deep-sea submersibles play an important role in many aspects, such as the monitoring of the marine environment and the identification of underwater targets. The unique driving and motion performance of the deep-sea submersible makes it have a greater performance advantage compared with other unmanned underwater vehicles. However, deep, long-distance, and long-term underwater navigation requires high accuracy of initial alignment. However, the complex underwater environment of ocean currents and the possibility of fish school impact will cause the base to shake. In the case of a large misalignment angle, the initial alignment speed and accuracy of the deep-sea submersible will decrease, which will...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a kind of SINS (strapdown inertial navigation system) / DVL (Doppler velocimeter) underwater anti-shaking alignment method of a kind of deep-sea submersible, through SINS anti-shaking double-vector fixed attitude self-alignment (coarse Alignment) and SINS / DVL fuzzy adaptive robust CKF (volume Kalman filter) filter alignment (fine alignment) based on SVD (singular value) decomposition to ensure the robustness and Rapidity, in order to overcome the problem that the speed and accuracy of the traditional inertial navigation alignment algorithm reduce the attitude determination speed and accuracy of the deep-sea submersible under the condition of shaking the base and large misalignment angle during the initial alignment, so that the submersible cannot continue to work normally. Finally, the long-endurance work of the deep-sea submersible is realized

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