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A Tightly Integrated Navigation Method for Underwater Vehicles Based on Terrain Aid

A navigation method and integrated navigation system technology, applied in the field of terrain-assisted underwater vehicle compact integrated navigation, to achieve the effect of high integrated navigation accuracy and strong portability

Active Publication Date: 2022-07-29
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above two points limit the development of terrain-assisted underwater vehicle integrated navigation system from theoretical research to practical application

Method used

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  • A Tightly Integrated Navigation Method for Underwater Vehicles Based on Terrain Aid
  • A Tightly Integrated Navigation Method for Underwater Vehicles Based on Terrain Aid
  • A Tightly Integrated Navigation Method for Underwater Vehicles Based on Terrain Aid

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Embodiment Construction

[0040] The present invention can be better understood from the following examples. like figure 1 As shown in the present invention, a terrain-assisted tight-combination navigation method for underwater carriers, the specific steps are as follows:

[0041] Step 1) Select the system state quantity according to the motion state of the underwater carrier, and the system state quantity is specifically:

[0042]

[0043] In the formula: ξ and η are the longitude and latitude of the location of the underwater carrier, respectively; is the diving depth of the underwater carrier from the sea level; H, P, and R are the heading angle, pitch angle, and roll angle of the underwater carrier, respectively; ε x , ε y , εz are the angular rate biases of the gyroscope in the x-axis, y-axis, and z-axis of the carrier coordinate system; [·] T represents matrix transpose;

[0044] Step 2) establishing an underwater carrier integrated navigation system model, and initializing the integrate...

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Abstract

The invention discloses a terrain-assisted compact integrated navigation method for an underwater carrier. The main steps include: selecting a state quantity according to the motion state of the underwater carrier, establishing an underwater carrier integrated navigation system model, and initializing the underwater terrain integrated navigation system; Gaussian and particle filter, build a Gaussian process-Gaussian and particle filter framework and perform compact combined navigation of underwater vehicles. The Gaussian process-Gaussian and particle filter tightly combined navigation framework can make full use of sensor information, the method is highly portable, suitable for nonlinear non-Gaussian actual systems, and has the advantage of free resampling, compared with traditional particle filtering. Integrated navigation, the integrated navigation has higher precision, which is conducive to promoting the practical application of the underwater carrier integrated navigation system based on terrain assistance.

Description

technical field [0001] The invention relates to an underwater carrier integrated navigation method, in particular to a terrain-assisted compact integrated navigation method for an underwater carrier. Background technique [0002] When the underwater carrier is working in the water, it cannot receive the signals of the global satellite navigation system in real time, and the errors of the basic inertial navigation system accumulate over time, which cannot meet the positioning requirements of long underwater navigation. Integrated navigation based on terrain assistance is a way to correct inertial navigation errors by matching geophysical quantities, thereby improving navigation accuracy. [0003] At present, there are two key technical difficulties in the underwater carrier integrated navigation based on terrain assistance: first, the underwater carrier integrated navigation system relies on the establishment of an underwater terrain database. However, for the practical appli...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/16
Inventor 程向红范时秒王子卉赵莹
Owner SOUTHEAST UNIV