Optical fiber strapdown inertial navigation high-precision positioning system and method for underwater bathyscaph

Abstract

The invention discloses an optical fiber strapdown inertial navigation high-precision positioning system and method for an underwater bathyscaph. The optical fiber strapdown inertial navigation high-precision positioning system comprises a navigation solution module, a global positioning system module, a strapdown inertial navigation receiving module, a Doppler speed-measuring module and an information fusion filtering module. An optical fiber gyroscope, an accelerometer and a magnetometer in the strapdown inertial navigation receiving module output the navigation attitude, the speed and position initial information, data output by the optical fiber gyroscope are subjected to error processing and correction through a dynamic Allan variance method, the processed data pass through the navigation solution module to obtain the velocity, position and attitude information of a carrier, finally the velocity information of the carrier is subjected to fusion and filtering error correction through the information fusion filtering module, and thus the underwater bathyscaph is precisely positioned. High-precision, high-reliability and high-real-time-property positioning and navigation of the underwater bathyscaph are achieved, and the deficiency of accuracy of position information of a traditional navigation system is overcome.

Description

technical field [0001] The invention relates to the field of navigation devices for underwater deep submersibles, in particular to an optical fiber strapdown inertial navigation high-precision positioning system and method for underwater deep submersibles. Background technique [0002] With the rapid development of computer technology, especially microcomputer technology, and the progress of modern control theory, integrated navigation technology began to develop rapidly from the 1970s. The early integrated navigation system usually measured the heading by the gyro compass or the platform compass, measured the speed by the electromagnetic log or Doppler sonar to estimate the ship position, and used Roland C or Omega to calibrate the estimated ship position , thus forming an integrated navigation system, but such a navigation system cannot meet the navigation accuracy of advanced technology, so people are exploring a high-precision navigation and positioning system and method...

AI Technical Summary

Problems solved by technology

[0005] Purpose of the invention: Aiming at the problem of large errors during long-distance operation of the strapdown inertial navigation system in the prior art, the present invention provides a high-precision positioning system and method for optical fiber strapdown inertial navigation for underwater deep submersibles

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