99 results about "Linear acceleration" patented technology

The invention relates to the technical field of underwater navigation, and discloses a real-time attitude estimation method of an underwater inertial navigation system. The method comprises the steps that the underwater vehicle collects multi-axis angular velocity and linear acceleration data through an inertial measurement unit and uploads the data to a central processing module, and the central processing module conducts kinematics modeling on the data to generate attitude change initial feature vectors; receiving water flow velocity data of a Doppler velocimeter and pressure data of a depth sensor, and performing flow field interference compensation optimization on the attitude change initial feature vector based on the data to generate an anti-interference attitude feature vector; fusing the anti-interference attitude feature vector and a historical attitude estimation result to generate space-time fusion attitude state representation, and then resolving a real-time Euler angle through a nonlinear filter; and matching a corresponding attitude stability control instruction from the navigation strategy library according to the real-time Euler angle, and issuing the attitude stability control instruction to a propeller execution unit. The method can effectively cope with underwater complex environment interference and guarantee stable operation of the underwater vehicle.

The invention provides a robot teleoperation method and a robot. The robot teleoperation method comprises the steps that an acceleration command, an angular acceleration command and an expected attitude quaternion of an end effector are determined based on the current linear acceleration, the current angular acceleration and the current attitude quaternion of a control end; the current position and the current speed fed back by the end effector are obtained, a torque control signal for controlling the position of the end effector is determined based on the acceleration command, the current position and the current speed, and end acceleration feedforward is obtained; determining a torque control signal for controlling the attitude of the end effector based on the angular acceleration command and the expected attitude quaternion to obtain attitude feedforward; and a joint torque instruction of a mechanical arm joint corresponding to the end effector is determined based on the end acceleration feedforward and the posture feedforward, and the joint torque instruction is sent to a corresponding joint driver so that the end effector can synchronously act along with the control end. According to the invention, the problem of attitude lag of the end effector can be avoided, and the tracking error of the end effector is reduced.

Belongs to the technical field of motion control of foot-type robots, and particularly relates to an anti-interference whole-body control method and system for a quadruped robot based on stability margin perception. The expected joint position, speed and foot end contact force are obtained through nonlinear model predictive control NMPC; a whole body controller WBC based on hierarchical quadratic programming calculates a joint driving torque according to the task priority; according to the joint position, the speed and the torque fed back by the driver and a robot dynamic model, estimating the foot end contact force; calculating resultant force which causes instability of the robot relative to each support polygon side line of the robot; projecting the resultant force, and calculating an included angle between the projection force and the vertical direction; calculating a compensation acceleration through a PI controller; and the compensation acceleration is used as a part of a fuselage linear acceleration task in the WBC, so that the anti-interference capability of the robot is improved. The method is used for solving the problems that in the prior art, the stable state of the quadruped robot cannot be effectively sensed, and an anti-interference control strategy cannot be rapidly generated according to the stable state.

The invention provides an underwater robot dynamic positioning method for coping with complex disturbance, and the method comprises the steps: collecting the attitude angle, angular velocity, linear velocity and linear acceleration information of an underwater robot, and generating fused high-frequency and high-precision pose information; designing an extended state disturbance observer, and estimating a disturbance value in real time through a feedback function and an auxiliary variable equation; adding the disturbance estimation value and the output force of the dynamic model, constructing a constraint condition of model prediction control, and solving the optimal control input of N prediction time domains in the future through rolling time domain optimization; and based on the optimal control input, constructing a quadratic programming problem of thrust distribution in combination with the space pose distribution matrix of the thrusters, solving the minimum energy solution of the thrusters, and outputting the minimum energy solution to a thruster execution mechanism. According to the technical scheme of the invention, the robust control of the underwater robot in a strong disturbance environment can be realized. The method mainly solves the problem of fixed point and attitude determination when the underwater unmanned robot faces underwater turbulence or other complex disturbances.

The invention discloses a speed measurement method of an optimized speed observer, relates to the technical field of vehicle power control, and solves the problem that a small negative value is easily taken as a large positive value or a small positive value is easily taken as a large negative value due to the fact that a deviation angle crosses a period in angle error calculation of an existing speed observer. The speed measurement method comprises the following steps: the acquisition and processing module acquires and processes a pulse signal of the encoder to obtain a feedback angle; an angle estimation value is calculated; taking the difference between the feedback angle and the angle estimation value as a deviation angle, and performing nonlinear compensation to obtain an angle deviation value; inputting a matrix operation framework of a speed observer, and outputting a linear acceleration estimated value; the pulse signal of the encoder is collected and processed again, a feedback angle is obtained, M-method operation and filtering processing are carried out on the feedback angle and the last feedback angle, and the feed-forward speed is obtained; and the speed observer performs weighted fusion operation on the linear acceleration estimated value, the angle deviation value and the feedback angle to obtain a final angular velocity estimated value, so that a final estimated angle is obtained, and velocity measurement is completed.

The invention discloses a three-axis differential implementation method based on cross symmetry of double inertial sensors, and the method comprises the following steps: S1, a sensor is an MEMS inertial measurement unit, i.e., an IMU, the IMU uses a right-hand Cartesian coordinate system to define the directions of three sensitive axes of the IMU, and the IMU is used for defining the positive direction of an angular velocity and also used for defining the positive direction of a linear acceleration; s2, in order to realize three-axis difference, rotating the sensor around the y axis by 180 degrees; s3, a result obtained in the step S2 is rotated by 90 degrees around the z axis; and S4, after the step S3, realizing symmetry of the x axis and the y axis through crossing, and realizing three-axis difference through double IMUs by applying a three-axis symmetry principle of an inertial sensor.

The invention belongs to the technical field of multi-variable measurement, and particularly relates to a forklift structure health state assessment method and system. The method comprises the steps that a plurality of strain type force sensors are symmetrically installed on the root portion of a left pallet fork and the root portion of a right pallet fork of the forklift, and the strain type force sensors are used for collecting stress signals of the left pallet fork and the right pallet fork in the three-dimensional space in real time; the six-degree-of-freedom motion state data of the forklift are collected in real time through an inertia measurement unit installed on a forklift main body, and the six-degree-of-freedom motion state data comprise linear accelerations in three orthogonal axial directions and angular velocities around the three orthogonal axial directions. According to the system, a high-bandwidth strain sensing array is deployed at the root of a pallet fork, the six-degree-of-freedom motion state of the whole vehicle is synchronously obtained, a dynamic disturbing force online decoupling mechanism based on a rigid-flexible coupling dynamic model is constructed, and the dependence of a traditional weighing technology on a static working condition is fundamentally broken through.

The invention discloses a linear acceleration environment test platform and a test method. The test platform comprises a platform body, a control system, and a guide rail assembly, an equipment assembly tool, a spring assembly, a spring stretching assembly and a detection unit which are arranged on the platform body, the equipment assembling tool is arranged on the guide rail assembly and is used for installing tested equipment; the spring assembly comprises a plurality of springs which are symmetrically distributed on the two sides of the guide rail assembly. The spring stretching assembly is used for stretching the spring assembly to a preset stretching position, the equipment assembling tool abuts against the spring stretching assembly, and the spring stretching assembly is released to drive the equipment assembling tool to do linear accelerated motion. The invention further comprises a test method of the linear acceleration environment test platform. The device is simple in structure and low in manufacturing cost, can effectively simulate the real dynamic response of the tested device under the action of the linear acceleration, carries out refined evaluation on the independence performance of the tested device, and is especially suitable for batch test requirements of inertial navigation devices, low-cost whole aircrafts and the like.

The invention discloses an IMU (Inertial Measurement Unit) visual fusion motion analysis method which comprises the following steps: a multi-source data synchronous acquisition step: acquiring three-dimensional linear acceleration and angular velocity original data through an inertial measurement unit, and acquiring a visual image sequence at the same time; a dynamic zero offset compensation step: executing a preset action on the inertial original data to calculate a zero offset compensation value; a time-space synchronization triggering step: generating a synchronization signal when detecting that the calibration inertial data reaches a preset threshold value, and establishing a mapping relationship between the timestamp and the visual frame sequence; a motion attitude fusion step: taking an attitude derived from calibration inertial data as prediction input, taking a joint coordinate extracted from a visual image sequence as observation input, and updating a fusion state through Kalman filtering; and a quantitative index extraction step: calculating a joint motion range, a motion instantaneous rate and a coherence coefficient. The method solves the technical realization problem of multi-source data acquisition and fusion, improves the accuracy and real-time performance of motion analysis, and is suitable for the fields of motion teaching and rehabilitation training.

The invention provides a multi-agent collaborative surrounding tracking method and system for a dynamic target. The method comprises the steps that S1, the number of surrounding agents, the expected surrounding radius, the expected angular spacing, the expected relative surrounding speed and the communication topology between the agents are determined according to the surrounding requirement; s2, designing a distributed fixed time observer based on a communication topological relation to realize estimation of a target state; s3, acquiring an azimuth angle between the surrounding agent and the target, and constructing a radial unit vector, a tangent vector and an angular spacing coordination error pointing to the target; constructing an estimated azimuth angle change rate, an estimated relative speed, an estimated relative distance and an estimated relative speed tangential component; constructing a radial acceleration control item, a tangential acceleration control item and a dynamic target tracking item; and S4, according to the current linear velocity and course angle of the intelligent agent, calculating linear acceleration and angular velocity in a feedback linearization mode, and realizing multi-layer adjustable angular spacing circular surrounding tracking of the multi-intelligent-agent dynamic target.

A method for biomechanical motion tracking records accelerometer and rate gyroscope data from a single inertial measurement unit mounted on the sacrum of a runner. Recorded resultant linear acceleration measurements and recorded angular velocity measurements about the anterior-posterior axis are processed to identify right foot impact events and left foot impact events. Impact events are identified using crackle, the third derivative of the resultant linear acceleration measurements. Left and right impact events are distinguished using the angular velocity measurements.

The invention discloses a motion sensing game linear acceleration anti-drifting method fusing space anchor points, and belongs to the technical field of motion sensing game pose tracking. The method comprises the following steps: synchronously acquiring IMU (Inertial Measurement Unit) original data and a space anchor point absolute pose; the method comprises the following steps: preprocessing IMU data, resolving an attitude matrix in real time by utilizing the angular velocity of a gyroscope, estimating attitude, velocity and displacement, and constructing a state vector; by taking the anchor point pose as observation, through fusion of extended Kalman filtering and state estimation, the optimal estimation is corrected, and the sensor error is calibrated on line; the six-degree-of-freedom pose and the linear acceleration are output to drive a game role to interact with an object, meanwhile, the correction state is fed back to a filter to form a closed loop, integral drift is remarkably restrained, and long-term precision and robustness are improved.

The invention relates to the technical field of ship control and navigation simulation, in particular to a ship trajectory visualization method and system based on combination of STM32 and Simulink, and the method comprises the following steps: an inertial measurement module and an ultra wide band positioning module collect attitude position information of a ship; the attitude position information is transmitted to an STM32 chip, the STM32 chip fuses the three-axis angular velocity, the three-axis linear acceleration and the three-axis geomagnetic data through a quaternion fusion algorithm to obtain a quaternion calculation result, and the quaternion calculation result and the position information in the three-dimensional space are fused to obtain fused data; the STM32 chip is used for fusing data, the fused data are packaged into data frames, the STM32 chip is used for transmitting the data frames to a ship model in a Simulink platform through a MAVLink protocol, the ship model is used for extracting the attitude angle and space coordinate information of the ship based on the data frames, and the visual motion trail of the ship is generated based on the attitude angle and space coordinate information of the ship. According to the invention, visual display and control algorithm verification are realized, and a semi-physical simulation closed-loop process is completed.

This invention relates to a method for roll reduction and anti-sway control during the deployment and recovery of an underwater robot. The method includes: estimating the position coordinates of the gantry pivot in the ship's coordinate system; calculating the motion state of the gantry pivot in the geodetic coordinate system based on the position coordinates, the mother ship's heading angle, pitch angle, roll angle, and the mother ship's coordinate position in the geodetic coordinate system; obtaining the linear acceleration and linear velocity of the underwater robot in the robot's coordinate system, and projecting the linear acceleration and linear velocity onto the geodetic coordinate system to obtain the underwater robot's motion state in the geodetic coordinate system; calculating the lateral and longitudinal sway angles of the underwater robot relative to the gantry pivot based on the motion state; and generating control commands based on the lateral and longitudinal sway angles to drive the anti-sway device to perform motion compensation along the lateral and longitudinal directions, thereby achieving roll reduction and anti-sway control. This method achieves a fundamental shift from "passive servoing" to "active roll reduction," significantly improving the safety and reliability of deployment and recovery operations.

1. Name of the design product: Plug-in inertial measurement module. 2. Use of the design product: The design product is used to be installed on a vehicle for measuring the rotational angular rate and linear acceleration of the vehicle in three orthogonal axes of a space coordinate system. 3. Design key points of the design product: Lies in the shape. 4. Picture or photo that best shows the design key points: Perspective view 1 of Design 1. 5. Design 1 is designated as the basic design.

The embodiment of the invention provides an optical axis stability control method and system based on linear acceleration feed-forward compensation, and the method comprises the steps: introducing a feed-forward compensation path based on a linear acceleration measurement value into a disturbance path from online disturbance to angular disturbance; the feedforward compensation path executes the following steps: acquiring a linear acceleration signal measured by a linear accelerometer arranged on the optoelectronic equipment in real time; multiplying the linear acceleration signal by a preset feed-forward compensation coefficient to generate a feed-forward compensation torque instruction; and the feedforward compensation torque instruction and a feedback torque instruction output by a servo control system speed ring controller are superposed to form a composite torque instruction, and a motor is driven to suppress angular disturbance generated by coupling of external line vibration through an equipment mechanical structure. According to the technical scheme, on the premise that an existing mechanical structure and a main feedback control framework are not changed, disturbance is actively predicted and counteracted by introducing a feed-forward compensation path, and the optical axis stability precision of the photoelectric equipment in a main vibration frequency band is improved.

The invention provides a high-precision positioning method and system for a logistics storage unmanned vehicle. The method comprises the following steps: respectively acquiring initial distance data between an ultra-wideband tag and each ultra-wideband base station and inertial measurement data of the unmanned vehicle based on the ultra-wideband tag and an inertial measurement unit configured on the storage unmanned vehicle; based on angular velocity data and linear acceleration data in the inertial measurement data, determining a relative pose variable quantity of the unmanned vehicle between two adjacent distance measurement periods and an instantaneous movement velocity vector of the unmanned vehicle in the current ultra-wideband distance measurement period; based on the initial distance data and the deployment position of each ultra wide band base station, determining the initial position coordinate of the unmanned vehicle, and fusing the initial position coordinate and the relative pose variable quantity to obtain the predicted position coordinate at the current moment. According to the invention, the precision and stability of the positioning result of the storage unmanned vehicle are improved, and the high-frequency and high-precision positioning requirements in a complex environment are met.

A MEMS accelerometer includes a proof mass that rotates about an in-plane axis in response to a linear acceleration such that a portion of the proof mass moves out of plane along an out-of-plane axis in a direction of a bump stop. When the proof mass becomes stuck to the bump stop, a signal is applied to one or more anti-stiction electrodes in a manner that moves the proof mass along a movement axis in order to release the proof mass from the bump stop.

The invention relates to a stabilization and stop control method in the launching and recovery process of an underwater robot. The method comprises the following steps: estimating position coordinates of a portal support point in a ship coordinate system; based on the position coordinates, the course angle, the pitch angle and the roll angle of the mother ship and the coordinate position of the mother ship in the geodetic coordinate system, the motion state of the portal support point in the geodetic coordinate system is calculated; acquiring the linear acceleration and the linear velocity of the underwater robot in the robot coordinate system, and projecting the linear acceleration and the linear velocity to the geodetic coordinate system to obtain the motion state of the underwater robot in the geodetic coordinate system; calculating a transverse swing angle and a longitudinal swing angle of the underwater robot relative to a portal support point based on the motion state; according to the transverse swing angle and the longitudinal swing angle, a control instruction is generated to drive the oscillation stopping device to conduct motion compensation in the transverse direction and the longitudinal direction, and stabilization and oscillation stopping control is achieved; according to the method, fundamental transformation from passive follow-up to active stabilization is achieved, and the safety and reliability of laying and recovery operation are greatly improved.

The invention discloses a motor smooth linear acceleration and deceleration system and a control method, which are applied to the fields of robots, industrial automation, machine tool processing, transportation, metering detection, aerospace, energy production, industrial manufacturing and elevators. The problems that an existing S-shaped acceleration and deceleration algorithm cannot respond quickly, overshoot oscillation exists in a linear control algorithm, and obvious grading echelon acceleration and deceleration are not smooth due to existing fixed grading grade acceleration and deceleration are solved. Fixed-period linear smooth acceleration and deceleration parameters are obtained through scanning period optimization calculation, a driver receives precise control pulse signals of a control system in each scanning period, the driver drives a motor, the control system precisely collects motor encoder information and the motor through an encoder, and according to set target speed data and target acceleration and deceleration time data, the acceleration and deceleration parameters of the motor are calculated according to the set target speed data and target acceleration and deceleration time data. Scanning cycles are collected, reliable scanning cycles are optimized, ideal graded acceleration and deceleration parameters based on reliable scanning cycle data are judged, and speed control of each scanning cycle is accurately achieved.

The present invention provides a positioning method, system and application for a robot, which relates to the technical field of positioning systems. Among them, the positioning method includes: obtaining the state pose at the previous moment, the linear velocity at the current moment, the angular velocity at the current moment, the time change amount between the current moment and the previous moment, the linear acceleration and the angular acceleration, and calculating the state pose at the current moment according to the pose state vector at the previous moment, the linear velocity at the current moment, the angular velocity at the current moment, the time change amount between the current moment and the previous moment, the linear acceleration and the angular acceleration; obtaining the total measurement noise at the current moment, and calculating the measurement pose at the current moment according to the total measurement noise at the current moment and the state pose at the current moment; calculating the optimal pose at the current moment according to the state pose at the current moment and the measurement pose at the current moment. The present invention combines tight coupling and loose coupling to fuse the pose estimation results of various sensors, improves the positioning accuracy of the robot, and has low cost.

A UUV control method based on feedforward PID, the present invention relates to a UUV control method based on feedforward PID. The purpose of the present invention is to solve the problems of poor accuracy and poor stability existing in the traditional PID control algorithm in UUV control. The process is as follows: First, set the starting position and target position of the UUV in the inertial coordinate system; Second, obtain the real-time wave interference information and the real state of the UUV; Third, the PID attitude controller outputs the angular acceleration; Fourth, the filter outputs the optimized depth information; Fifth, the PID position controller outputs the linear acceleration; Sixth, apply the angular acceleration and linear acceleration to the actuator, and change the thrust and torque of the thruster by controlling the rotation speed of the actuator. The thrust and torque act on the UUV to change the movement trajectory of the UUV underwater; Seventh, judge whether the UUV has reached the target position; if so, the UUV ends the navigation; if not, repeat steps two to six until the UUV reaches the target position. The present invention is used in the field of UUV control.

An apparatus and a corresponding method for determining mapping data relating to a feature of a parcel region. The apparatus comprises: a measurement apparatus comprising: a plurality of inertial sensors for acquiring motion data representing a position of the measurement apparatus based on a linear acceleration and an angular velocity of the measurement apparatus; a distance measurer for acquiring, during use, distance data representative of a distance from the measuring device to the ground of the parcel area; and a measurement device computer processor to: obtain first motion data from the plurality of inertial sensors while the measurement device is stationary at a first mapping position associated with the feature; obtaining second motion data from the plurality of inertial sensors, the second motion data indicating that the measurement device is moving from the first mapping position to a second mapping position; when the measuring device is moving from the first surveying and mapping position to the second surveying and mapping position, controlling the distance measurer to acquire distance data once or multiple times based on the second motion data; the apparatus further comprises a processing device comprising a processing device computer processor for: determining X, Y, and Z positions of the first surveying position based on the first motion data; determining X, Y and Z positions of the measuring equipment based on the second motion data; determining a distance from the measuring device to the ground based on the acquired distance data; and generating mapping data for the feature based on the determined X, Y and Z positions of the first mapping position, the determined X, Y and Z positions of the measurement device, and the determined distance.

A gradio-gravimeter comprising at least two vehicles (V1, V2), each with an inertial measurement unit (IMU1, IMU2) and a control unit (COM1, COM2) for guiding the vehicles along trajectories with separate segments for performing IMU flips and coupled segments for exchanging inertial measurements. At least one of the electronic control units is configured to determine, notably from the exchanged measurements: a transition matrix between inertial frames, a correction of linear acceleration measurements using an observed accelerometric model, a correction of angular velocity measurements using an observed gyrometric model, and a gravitational field gradient. Navigation system comprising such a gradio-gravimeter. FIGURE IN ABRIDGED DIAGRAM: Fig. 1

The invention relates to an underground deep hole displacement measuring method, device and system. The method comprises the following steps: controlling a displacement detection device to go deep into a target position of an underground to-be-detected drill hole; acquiring linear acceleration data and angular velocity data acquired by the displacement monitoring device within a first preset time period; determining the displacement of the to-be-measured drill hole according to the linear acceleration data in the first preset time period; determining an attitude angle of the to-be-measured drill hole according to the angular velocity data; and determining displacement information of the underground to-be-measured drill hole based on the displacement amount and the attitude angle. According to the scheme, the convenience and accuracy of monitoring the displacement of the drill hole are improved.

1. The name of the design product: micro-inertial measurement combined sensor. 2. The use of the design product: for measuring three-axis angular velocity and three-axis linear acceleration of an object. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: design 1 perspective view 1. 5. Design 1 is designated as the basic design.

The application provides an unmanned surveying ship control method, system and circuit board based on attitude adaptive compensation, relates to the technical field of unmanned surveying ship control, and the method comprises the following steps: receiving an attitude compensation measurement trigger signal; collecting original angular rate and linear acceleration data of a ship body in real time according to the attitude compensation measurement trigger signal; and obtaining real-time three-dimensional space attitude parameters of the ship body according to a preset rigid body kinematics differential equation, the original angular rate and the linear acceleration data. The application improves the depth operation precision of the unmanned ship in a complex hydrological environment.

The present application relates to a calibration method for a quantum inertial navigation system, which includes a three-axis atomic interferometer gyroscope and a three-axis atomic interferometer accelerometer, and a calibration test is performed on a three-axis turntable. The calibration method includes: calculating the maximum rotational angular acceleration of the turntable's Z axis based on the rotation scale factor, output phase noise amplitude, and data update frequency of the atomic interferometer gyroscope; calculating the maximum rotational angular velocity of the turntable's X and Y axes based on the linear acceleration scale factor, output phase noise amplitude, and data update frequency of the atomic interferometer accelerometer; determining the turntable's rotation strategy during the calibration test based on the turntable's maximum rotational angular acceleration of the Z axis and the maximum rotational angular velocity of the turntable's X and Y axes; and controlling the turntable to perform calibration tests on the atomic interferometer gyroscope and the atomic interferometer accelerometer according to the turntable's rotation strategy. The present application can improve the inertial navigation calibration accuracy of a quantum IMU.

The motion monitoring method provided by the invention is applied to a motion camera, the motion camera is provided with a sensor, and the method comprises the following steps: obtaining sensor data of the motion camera, the sensor data comprising an angular velocity, a linear acceleration and an anti-shake compensation displacement; resolving the attitude angle of the motion camera, and converting the angular velocity and the linear acceleration into the same coordinate system by using the attitude angle; under the same coordinate system, according to the angular velocity and the linear acceleration, a mapping relation between the angular velocity and the anti-shake compensation displacement is constructed, and the mapping relation represents a corresponding relation between the motion amplitude of the motion camera and the anti-shake compensation displacement; based on the angular velocity and the linear acceleration, after motion data features are extracted, the target motion state of the motion camera is determined in combination with the mapping relation; and based on the target motion state and in combination with sensor data, counting the motion amount corresponding to the motion camera. Therefore, on the premise of not increasing additional sensor or hardware burden, the hardware potential of the motion camera is fully excavated, and the accuracy and applicability of motion monitoring are improved.

The invention discloses a UUV inertial navigation-electromagnetic fusion positioning method and system based on a magnetic gradient tensor, and relates to the field of underwater navigation positioning, and the method comprises the steps: obtaining an electromagnetic beacon magnetic field signal, a UUV angular velocity signal and a linear acceleration signal, and carrying out the preprocessing; calculating an independent component of the magnetic gradient tensor by adopting a spatial difference method; calculating the motion state of the inertial navigation system to obtain the position, the speed, the attitude and the IMU error of the UUV; based on the magnetic dipole equivalent model, establishing a tight coupling fusion model of the magnetic gradient tensor and the motion state of the inertial navigation system; and performing state estimation on the tight coupling fusion model by using an unscented Kalman filtering algorithm, correcting the state of the inertial navigation system by using an independent component of a magnetic gradient tensor as an observed value, and outputting a fusion positioning result of the UUV. And the inertial navigation-electromagnetic fusion positioning performance is comprehensively improved.