Strapdown inertial navigation system (SINS)/ultra short base line (USBL) phase difference tightly integrated navigation locating method based on double transponders

Abstract

The invention provides a strapdown inertial navigation system (SINS)/ultra short base line (USBL) phase difference tightly integrated navigation locating method based on double transponders. The SINS/USBL phase difference tightly integrated navigation locating method refers to a SINS and an USBL locating system which are mounted on an AUV; a hydrophone of the USBL system receives calibration of errors existing in fixed connection and mounting of a base array and the INS, the two transponders are laid on the seabed, and a slope distance phase observation model between the hydrophone of the USBLsystem and the transponders is built; the USBL locating system with the structure of the double transponders conducts differential processing on a slope distance phase equation on the hydrophone layer surface and the transponder layer surface; and then the slope distance phase difference equation subjected to double-layer differential processing is refined into an integrated navigation system observation equation to be filtered. The similarity errors in the USBL locating system can be effectively counteracted through a double-difference processing method, the USBL phase difference is adoptedas the observation quantity to be tightly integrated, the coordinate transformation error and the base array offset error which are caused by direct position computing of a USBL are avoided, and the precision of the AUV integrated navigation locating system can be effectively improved.

Description

technical field [0001] The invention belongs to the underwater navigation technology, and in particular relates to a dual-transponder-based SINS / USBL phase-difference-tight combined navigation and positioning method. Background technique [0002] Throughout the world, there is growing interest in the ability of underwater vehicles to survey vast ocean resources with high precision. As an autonomous underwater mobile carrier, underwater vehicle has the advantages of wide range of activities, small size, light weight, low noise and high concealment. It has become an important direction of marine technology research in various countries. In order to ensure that the autonomous underwater vehicle can successfully complete the relevant underwater tasks, the navigation system it is required to be equipped with has the ability of long-term autonomous navigation, positioning and return. [0003] Among the existing positioning technologies, inertial navigation system (INS) has been w...

AI Technical Summary

Problems solved by technology

[0006] In the research on the combined positioning algorithm of underwater vehicles, on the one hand, most of the current research is based on the inertial/long baseline combined positioning method, and the research on the inertial/ultra-short baseline combined positioning algorithm is not sufficient; on the other hand, in the existing In the inertial/ultra-short baseline combination position

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