Study Of AUV Navigation Technique Based On The Rotating Modulation

The Miniature Autonomous Underwater Vehicle is one of the important tools using for exploring resources in the submarine areas. Because of its advantage in cost, size, flexibility, it has broad application prospects in both civil and military. The Auto-navigation system as the key technology of micro-AUV is getting more and more attention from home and abroad. The Inertial Navigation System(INS) is used as the main method due to its independence and hidden advantages. The error of INS grow as time goes. We often use the Global Navigation Satellite System(GNSS) to correct the INS error from time to time. So INS integrated GNSS is the mainstream of AUV navigation system.Based on a scientific research background, take a long time for work underwater and has a high hidden requirements under consideration, we presents a series of interial navigation system as the core, supplemented by magnetic compass, depth gauge and kinematic model of AUV for the integrated system. Design a Kalman filter algorithm and conduct a navigation system algorithm verification test.Due to the lower accuracy of the device characteristics, the INS has a poor precision. We propose a rotating technique to modulate the constant error of IMU to a cycle and eliminate the INS error by strap-solver integration process. Use of laboratory turntable, A SINS based on rotating modulation technique algorithm verification test is conducted. The result shows that the precision of the system is four times higher than without using rotating modulation technique. This offer a new solution and test evidence for the future work.At the end, for the problem what haven found in the research, give some advice for the latter study and some advanced solution.