Inertial navigation error prediction and floating correction automatic planning method and device for underwater vehicle

Abstract

The embodiment of the invention provides an automatic planning method and device for inertial navigation error prediction and floating correction of an underwater vehicle. The method comprises the steps that firstly, correcting inertial navigation positioning data and satellite navigation positioning data respectively; obtaining a longitude error trend, an earth periodic oscillation synthesis sequence, a latitude error trend and an earth periodic oscillation synthesis sequence based on the inertial navigation positioning data and the satellite navigation positioning data; establishing an errordecomposition model for parameter identification based on the inertial navigation positioning error model under the static base and the position error characteristics of the inertial navigation; obtaining a latitude error prediction model for latitude error prediction based on the latitude error trend, the earth periodic oscillation synthesis sequence and the latitude error decomposition model, and obtaining a longitude error prediction model for longitude error prediction based on the longitude error trend, the earth periodic oscillation synthesis sequence and the longitude error decomposition model; and finally, based on an inertial navigation error prediction result, planning a floating correction scheme of the underwater vehicle by adopting a genetic algorithm so that the navigation safety and concealment are fully considered.

Description

technical field [0001] The application relates to the technical field of underwater vehicle navigation, in particular to a method and device for automatic planning of inertial navigation error prediction and floating correction of underwater vehicles. Background technique [0002] Inertial navigation equipment (hereinafter referred to as inertial navigation) is the core of the underwater vehicle navigation system, and its positioning accuracy directly affects the data calculation accuracy and reliability of the navigation system. Inertial navigation positioning errors accumulate over time and should therefore be corrected periodically. However, the underwater vehicle has a special navigation environment and lacks equipment that can correct the inertial navigation equipment. It needs to float up to receive external information to solve this problem. However, floating up will destroy the concealment of the carrier and affect the mission execution and survival of the carrier. ...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the technical defect that the prediction error of the gyro drift prediction method in the prior art is relatively large, which leads to the fact that the floating correction scheme of the underwater vehicle cannot be reasonably planned based on the actual performance prediction of the inertial navigation system, thereby providing an underwater The inertial navigation error prediction and floating correction method of the underwater vehicle can predict the inertial navigation error of the underwater vehicle based on the actual performance of the inertial navigation, and then reasonably plan the timing of the floating correction of the underwater vehicle to determine the optimal floating correction scheme

Images