A sins/usbl deep integrated navigation and positioning method based on usbl software receiver
A deep integrated navigation and software receiver technology, which is applied in navigation, navigation, positioning and other directions through speed/acceleration measurement, can solve problems such as limited fault tolerance, and achieve the effect of improving performance and system fault tolerance
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specific Embodiment approach 1
[0022] Specific implementation mode one: as figure 1 and Figure 4 As shown, a kind of SINS / USBL deep integrated navigation positioning method based on USBL software receiver described in this embodiment, the method comprises the following steps:
[0023] Step 1. Install the acoustic matrix of USBL on the underwater vehicle upside down. The gyro components and accelerometer components of SINS are fixedly connected to the underwater vehicle, and a synchronous beacon is placed on the water surface; the beacon is in the navigation coordinate system The location is obtained by GPS;
[0024] The navigation coordinate system refers to the "Northeast Sky" ("ENU") geographic coordinate system, and the "Northeast Sky" geographic coordinate system takes the center of mass of the underwater vehicle as the origin o n , x n Axis points to geographic east, y n Axis points to geographic north, z n axis perpendicular to x n o n the y n The plane points to the sky, x n axis, y n axis...
specific Embodiment approach 2
[0039] Specific implementation mode two: as figure 2 shown. The difference between this embodiment and the first embodiment is that in the second step, the position of each primitive in the acoustic matrix coordinate system for:
[0040]
[0041] Wherein: i is the primitive sequence number, i=1,2,3,4, r is the distance between primitives 1 and 3 or the distance between primitives 2 and 4 (the distance between primitives 1 and 3 is the same as that of primitives 2 and 4 equally spaced); is the x of each primitive in the acoustic matrix coordinate system a position on the axis, is the y of each primitive in the acoustic matrix coordinate system a position on the axis, is the z of each primitive in the acoustic matrix coordinate system a The position in the axial direction, the superscript T stands for transpose.
specific Embodiment approach 3
[0042] Specific implementation mode three: the difference between this implementation mode and specific implementation mode two is: the specific process of the step three is:
[0043] The attitude information of the underwater vehicle in the navigation coordinate system calculated by SINS includes heading angle A, pitch angle K and roll angle ψ;
[0044] Establish the carrier coordinate system o b x b the y b z b , the coordinate origin o of the carrier coordinate system b Located at the center of mass of the underwater vehicle, coordinate axis x b The positive direction of the underwater vehicle points to the right along the horizontal axis, and the coordinate axis y b The positive direction of the underwater vehicle points forward along the longitudinal axis of the underwater vehicle, and the coordinate axis z b The positive direction of is pointing up along the vertical axis of the underwater vehicle, and the definition of the carrier coordinate system satisfies the r...
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