Design And Experiment 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. Because Strapdown Inertial Navigation System(SINS) can't supply precise navigation and position about AUV. The thesis is based on a certain underwater vehicle project, the study mainly deals with some key technologies of underwater multi-sensor navigation system. AUV is composed of SINS, electronic compass and depth meter. The thesis mainly discusses algorithm about SINS and compensation of magnetic error about electronic compass, and checks it by the experiments. 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) Design SINS of AUV. Research principle, basic algorithm and error models of SINS; and built models of attitude, velocity and position of SINS.3) Research algorithm about initial alignment of SINS with stationary base and moving base, and realize easy alignment and precise aligament by Kalman.4) Resaerch principle of getting yaw by electronic compass and analysis influence of extra magnetic and tilt angles; and put foaward to the least square and Ellipse Hypothesis.Get the magnetic compensation error model by experiments.5) Intuoduce the principle and measures of federated filter.