Technology Research And System Design Of The INS/Database Matching Navigation

Due to the passive and autonomous, the inertial navigation system (INS) has been the core devicesof the navigation system for the underwater vehicle in a long time. The positioning error of the inertialnavigation system is not only accumulates over time, but also difficult to ensure accuracy for long-termbecause the inertial sensitive devices inherent reasons. As a non-traditional navigation technology,because of the advantage of autonomous, covert, and high efficiency of its matching features, people payattention to the gravity, geomagnetism, gravity gradient, terrain matching navigation which is based onthe geophysical field data. The matching navigation based on geophysical field data can compensate thepositioning error of the inertial navigation system and being used for all the time. The underwatervehicle can realize the purposes of long-term, self-hidden and high-precision navigation without closingthe surface and eradiating signal.In order to meet the needs of the geophysical field data matching navigation system, this paper hasdesigned the INS/database matching navigation system which is based on the geophysical field data andusing the INS as the core devices. The software and hardware has been designed based on the analysisof the Working Principle and system components.The system used the ADLINK PXIS-2506IPC as the combination computer, gets the sensor dataabout INS and gravimeter by the preprocessing device. The preprocessing device is composed by thecontroller and its peripheral, the memory, serial to parallel data converter and CPCI bus driver. And itssoftware is programmed accord to the sensor output. With the mechanism of the CPCI, the device driveris designed based on the QNX RTOS.The matching navigation system software is designed based on the QNX embedded real-timeoperation system, and it implements the function of positioning with the processed data frompreprocessing device and artificial physics optimization particle filter (APO-PF). The UI is designed bythe PhAB, and it is used to set navigation parameters, real-time position and track display. As themanagement system, the QNX database storages large amount of geophysical field data and the tablestructures are designed by the relationship between the data. This paper research the way of extractinggeophysical field data contour lines, and shows them in the UI. It also has analysis the shows of APO-PFwith different INS and gravimeter which are using the sea trial data of an INS.The system is implemented based on the gravity field data, and it has been tested with the sea trialdata of an INS and gravimeter simulator.