Deep-diving long-endurance submersible SINS/DVL ocean current speed estimation method

Abstract

The invention discloses a deep-diving long-endurance submersible SINS / DVL ocean current speed estimation method which comprises the following steps: 1, performing navigation calculation output twice on the basis of a strapdown inertial navigation system SINS under specific trajectory motion, namely SINS1 and SINS2, designing a high-pass filter to obtain the real horizontal speed of the SINS1, and combining the real horizontal speed with the SINS2 to realize SINS self-aided navigation; 2, according to the Doppler effect principle, the deep diving long-endurance submersible working in the middle-layer water area uses a water tracking mode of a Doppler log DVL to measure the convection velocity; and 3, estimating the ocean current speed by using a least squares estimation algorithm RLS in combination with high-precision navigation parameters provided by SINS self-aided navigation and the convection speed obtained by using DVL. According to the method, the ocean current speed information of the middle-layer water area can be estimated through the SINS / DVL under the conditions that a navigation information source is lacked and the ocean current speed is difficult to obtain in real time.

Description

technical field [0001] The invention belongs to the technical field of underwater navigation and positioning of manned submersibles, and relates to a method for estimating the SINS / DVL ocean current velocity of a deep-diving long-voyage submersible. Background technique [0002] Because of the attenuation characteristics of electromagnetic signals underwater, the global positioning system GPS cannot be used for navigation and positioning in mid-ocean waters. Similarly, the Doppler velocimeter DVL far away from the seabed cannot be directly used for navigation. Navigation information sources are scarce in mid-waters, and only inertial measurement units (IMUs) and acoustic sensors are available. At present, especially for deep submersible long-distance submersibles that perform long-term and long-distance submerged missions at large depths, how to use the scarce navigation information sources in the deep sea to conduct navigation research in mid-level waters has important scie...

AI Technical Summary

Problems solved by technology

This method is based on a specific trajectory movement and is only suitable for the navigation process of the deep-loaded submersible during the dive / surfacing phase, but it cannot provide an effective navigation method for the cruising mission of the deep-diving long-endurance submersible in mid-level waters; and this method cannot obtain ocean current velocity information

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