Underwater carrier integrated navigation method based on MEMS IMU/magnetometer/DVL integration

Abstract

The invention provides an underwater carrier integrated navigation system based on MEMS IMU / magnetometer / DVL integration, which comprises an initial alignment process, an inertia calculation process,a speed measurement Kalman filter and a course measurement Kalman filter; wherein the initial alignment process uses a magnetometer and an accelerometer to complete initial course attitude calculation; in the inertial calculation process, recursive calculation of carrier poses is carried out by utilizing data of an MEMS IMU, speed difference output by the MEMS IMU and a DVL serves as a filter forprimary measurement in speed measurement Kalman filtering, navigation parameters such as heading and poses are estimated by utilizing filtering, and measurement precision such as horizontal poses is improved through feedback correction; secondly, magnetic heading information is calculated in combination with the obtained horizontal attitude information and the magnetometer measurement value, heading measurement Kalman filtering takes the difference between the heading obtained through primary feedback correction and the magnetic heading as a filter for secondary measurement, then filtering isperformed, and high-precision navigation parameters such as heading, attitude and speed are obtained; and therefore, the positioning precision of the system is greatly improved.

Description

technical field [0001] The present invention relates to the technical field of navigation and positioning of underwater vehicles, in particular to a combined navigation method for underwater vehicles based on the combination of MEMS IMU / magnetometer / DVL. Navigation and positioning errors for underwater navigation. Background technique [0002] The ocean is an important strategic space for human development, and the rational and sustainable development and utilization of ocean resources is crucial to the future development of mankind. Underwater vehicles are currently key equipment for ocean surveys, ocean resource exploration, underwater search and rescue, diving support, and military reconnaissance. Due to the particularity of the underwater environment, it is still difficult to achieve precise navigation of underwater vehicles. Navigation is one of the main technical challenges faced by underwater vehicles. [0003] The current high-precision navigation system is mainly ...

AI Technical Summary

Problems solved by technology

Due to the particularity of the underwater environment, it is still difficult to achieve precise navigation of underwater vehicles. Navigation is one of the main technical challenges faced by underwater vehicles.

[0003] The current high-precision navigation system is mainly based on laser or optical fiber strapdown inertial navigation system, supplemented by GPS and DVL and other means. Such systems are generally large in size and expensive; considering the portability and economy of the system, based on The MEMS navigation and positioning system has the characteristics of small size and low cost, but the heading and attitude measurement accuracy under dynamic conditions is usually relatively limited. If the underwater vehicle is in a maneuvering state for a long time, the heading and attitude information obtained by the navigation system will have certain error

Images