Autonomous Underwater Vehicle Navigation System Design And Algorithm Research

Because of the traditional inertial navigation system is difficult to meet the Autonomous Underwater Vehicle (AUV)'s navigation precision and positioning precision. The method just depend on improve the performance of inertial sensors to improve the navigation accuracy and positioning accuracy is very limited. Based on actual AUV project, this thesis mainly studies the navigation system, which is based on strapdown inertial navigation (SINS), use the GPS navigation system and COMPASS as the aided navigation equipment. Main work is as following:Analysis the status and development trend of the inertial navigation system and the underwater robot.Introduce the navigation principles and basic theory of SINS. Design of the strapdown navigation system of AUV, including the establishment of AUV coordinates, detailed mechanical arrangement. Analysis the error of the strapdown inertial navigation system, set up the parameters error equations of the system, and discussed the initial alignment strapdown technology.Design of SINS/GPS/COMPASS integrated navigation system. Based on deeply study of the error equations of SINS and Kalman filter technology, the Kalman model equations of SINS/GPS/COMPASS navigation system is deduced. The whole system is coded in Matlab language. The simulation result shows that the integrated system provides higher precision and solves the problem of error increasing with time that is inherent in SINS. This integrated system is applied to navigation correction after a long time sailing underwater.