An integrated navigation method for underwater vehicles based on mems IMU/magnetometer/DVL combination

Abstract

The invention proposes a combined navigation method for underwater vehicles based on the combination of MEMS IMU / magnetometer / DVL, which includes an initial alignment process, an inertial calculation process, a velocity measurement Kalman filter and a heading measurement Kalman filter. In the alignment process, the magnetometer and accelerometer are used to complete the initial heading and attitude calculation. In the inertial calculation process, the data of the MEMS IMU is used to perform the recursive calculation of the carrier pose. The velocity measurement Kalman filter is firstly calculated as the difference between the velocity output by the MEMS IMU and the DVL. The difference is measured once as a filter, and the navigation parameters such as heading and attitude are estimated by filtering, and the measurement accuracy of horizontal attitude is improved through feedback correction; secondly, the magnetic heading information and heading are calculated by combining the obtained horizontal attitude information and magnetometer measurement value. The measurement Kalman filter uses the difference between the heading and the magnetic heading obtained by the first feedback correction as the secondary measurement of the filter, and then performs filtering to obtain high-precision heading, attitude, speed and other navigation parameters, which greatly improves the positioning accuracy of the system. improve.

Description

technical field [0001] The 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 MEMS IMU / magnetometer / DVL combination. Navigation and positioning error of underwater navigation. Background technique [0002] The ocean is an important strategic space for human development, and realizing the rational and sustainable development and utilization of marine resources is crucial to the future development of human beings. The underwater carrier is currently the key equipment for ocean survey, marine resource exploration, underwater search and rescue, diving support, and military detectives. Due to the particularity of the underwater environment, it is still difficult to achieve accurate navigation of underwater vehicles. The navigation problem is one of the main technical challenges faced by underwater vehicles. [0003] The current high-precision navigation sys...

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

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