Research Of Integrated Navigation System For Autonomous Underwater Vehicle

Integrated navigation system for autonomous underwater vehicle has become one of the hot research points in China, due to its low-cost, small size, high performance and high practicability in military technology area.The thesis is based on a certain underwater vehicle project, the study mainly deals with some key technologies of underwater multi-sensor navigation system. Main work is as follows:1) For the special requirement of underwater strapdown inertial navigation system, the paper designed an integrated navigation system based on strapdown inertial navigation, electronic compass, depth meter.2) This paper researched the principle of federal kalman filter and its application, created error model for sub-filters, and simulated this algorithm.3) This paper researched compensation method of compass error, proposed an application of compensation method based on ellipse suppose.4) A thought for the design of related software, interfaces and some...