Autonomous Underwater Vehicle Navigation System Design And Error Analysis

As the traditional Navigation system can't satisfy the requirements of the Autonomous Underwater Vehicles (AUV) navigation and position. We study a Depthometer-Doppler-aided Strapdown Inertial Navigation system (DDSINS) in combination of the developments of periodic navigation technique and some practical problem posed by the mathematical and variation of output data of doppler, furthermore, the digital simulation and semiphysica test are made to verify the validity of the algorithm, the main research work are as follows:Design of the strapdown inertial navigation system of AUV. On the basis of deep research of its working principal, basic algorithm and error spread character, the gyro constant drift, acceleration zero error and constant initiation error of static pedestal strapdown inertial navigation system are quantitatively analyzed. Furthermore with the medium precision Inertial Navigation device as the simulation object, we made some mathematical simulation.Design of the Doppler navigation system. After deeply studying the working principal of supersonic Doppler and electrical compass, We design the Doppler navigation system. Aiming at the longcycle and principal variation, the navigation calculating program is compiled, furthermore, we test it with mathematical and physical simulation. The results show it is valid for practical use.Design of DDSINS in which the kalman filer can be adapt to variation of output data of Deppler. The DDSINS is simulated in digital computer, the results show that DDSINS can meet the requirements of AUV .The program are compiled in matlab language. The program include inertial device ideal simulation block> inertial device error simulator block, strapdown inertial navigation calculator block, doppler calculator block, kalman block and so on. The different block can be used for inertial navigation simulation, doppler simulation and so on.