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Fast Initial Alignment Method for Underwater Vehicle Strapdown Inertial Navigation System after Launch

An inertial navigation system and underwater navigation technology, applied to instruments, measuring devices, etc., can solve problems such as difficulty in applying fast initial alignment, and achieve the effects of reducing launch preparation time, reducing precise alignment time, and improving data utilization.

Active Publication Date: 2022-07-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The platform compass alignment is difficult to apply to the rapid initial alignment of the underwater vehicle in a moving state

Method used

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  • Fast Initial Alignment Method for Underwater Vehicle Strapdown Inertial Navigation System after Launch
  • Fast Initial Alignment Method for Underwater Vehicle Strapdown Inertial Navigation System after Launch
  • Fast Initial Alignment Method for Underwater Vehicle Strapdown Inertial Navigation System after Launch

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specific Embodiment

[0110] The three-axis zero drift of the strapdown inertial navigation gyroscope installed on the underwater vehicle is 0.005 / h, and the three-axis zero offset of the accelerometer is 50 μg. Doppler velocimeter accuracy is 1% ± 1mm / s. The latitude of the launch site is 32.62°. The attitude angle (pitch angle, roll angle, azimuth angle) of the underwater vehicle before launching is [0° 0° 45°] T . After the launch, a constant speed direct flight with a heading of 45° from north to east and a speed of 10m / s was carried out. Set the alignment time to 300 seconds, i.e. t s =0s, t e =300s.

[0111] Step 1: The underwater vehicle is roughly aligned on the carrier platform to obtain a rough attitude array and the initial velocity v n (t s0 ). By attitude array and the true value of the vehicle attitude [0° 0° 45°] T By comparison, the misalignment angle at this time can be obtained as [10' 10' 120'] T . initial speed v n (t s0 )=[7m / s 7m / s 0m / s] T .

[0112] Step 2:...

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Abstract

The invention relates to a method for rapid initial alignment between travels after the launch of the strapdown inertial navigation system of an underwater vehicle. First, the strapdown inertial navigation system of the underwater vehicle needs to be roughly aligned before launching, then launch, and then navigate. This method is used for precise alignment while performing maneuvering tasks. The specific implementation steps of the method are: storing the gyroscope and accelerometer data of the inertial navigation and the speed data of the Doppler velocimeter, and then using the data of the gyroscope and the accelerometer to alternately perform post-shooting forward compass alignment and post-shooting The reverse compass alignment and the velocity damping using the velocity data of the Doppler velocity meter finally achieve the required alignment accuracy and end the alignment process. The method enables the underwater vehicle to perform precise alignment in the process of performing maneuvering tasks after launch, reduces the launch preparation time of the underwater vehicle, and improves the maneuverability of the underwater vehicle. The stored data is reused to improve data utilization and reduce the precise alignment time.

Description

technical field [0001] The invention belongs to an initial alignment method of an underwater vehicle, and relates to a rapid initial alignment method between travels after launching a strapdown inertial navigation system of an underwater vehicle, so as to achieve the goals of shortening the launch preparation time and improving the initial alignment accuracy. Background technique [0002] Accurate navigation information is the first condition for underwater vehicle to operate underwater. GPS, which is commonly used by land and air vehicles, cannot be used when underwater vehicles travel underwater due to the inability to receive GPS information underwater. The magnetic compass can obtain attitude information according to the geomagnetic direction, but due to the complex underwater environment and the weak earth's magnetic field, its alignment accuracy and stability are poor. [0003] Compared with GPS and magnetic compass, the inertial navigation system has strong navigatio...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 张福斌孙成浩潘光宋保维高剑张立川彭星光
Owner NORTHWESTERN POLYTECHNICAL UNIV
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