Research On The Observation Rov Structure And Its Strap-down Inertial Navigation System

As the development of scientific technology, human has come into the age of exploration and using of ocean. As a tool which used to execute the exploration in a depth of the ocean where normal diving technology can't arrived, UV(Under-water Vehicle) has been researched widely all the time. UV's development is a complicated systemic engineering, as one of the key-technologies of UV system, the navigation system can effect the performance of UV greatly.Considering the background of the project, The structure design work of a ROV(Remotely Operated Vehicle) which used for observation is firstly finished Then the navigation system used on the rov is researched ,the result of the research present that Strap-down Inertial Navigation System is a effective navigation technology for this vehicle.Here are the main content of this paper:In Chapter 1 ,the domestic and oversea development and application of the UV. is summarizes firstly. Then the common navigation systems used under water are introduced, and compared through their advantage and disadvantage. The research purpose, significance and content of the whole paper are put forward at the end of this chapter.In Chapter 2,the mechanical design work of the ROV is finished ,which depends on the design rules and experiences .This design introduces a structure of the ROV which has a frame with three layers, and use four horizontal thrusters and one vertical thruster to execute the rov's movement .In this chapter, the design details of the key-component are also presentedIn Chapter 3, several kinds of the navigation algorithm are compared which used for the inertial navigation system of rov. Then for the whole navigation system ,the modules of trace-generation and SINS calculation are programmed using Matlab language. The simulation of those module presents the exactness of the algorithm selected.In Chapter 4,with the certain algorithm and the inertial sensor, the real-time process software is programmed using Labview. The result of the experiments proves that the inertial navigation system can obtain the attitudes of the rov availably.In Chapter 5, the error of the navigation system is analyzed firstly, and the navigation precision effection caused by sensor output error is also researched during this part. For the error of the strap-down inertial navigation system ,a resolution is brought forward. The resolution suggests rov to float out of the surface of water in order to receive the signal of GPS. Then a kalman filter can be built to estimate and compensate the error of strap-down inertial navigation system of rov. The result of simulation present this method can restrain the error of the navigation effectively .In Chapter 6,a general summarization of the total research works in the paper is given. What's more ,an expectation of the future research work is also brought forward.