Design Of The Underwater Integrated Navigation System Algorithm And The Research On Fault Diagnosis Method Of The Course

The ocean is the cradle of life,many countries in the world on the exploitation and use of marine resoures more and more attention,because of the need of economic development and scientific research,under water robot(AUV) has made rapid development in the last 20 years,navigation system in the environment of AUV has also been considerable development and progress.Inertial navigation system(INS) and consists of the Doppler navigation system and the electronic compass navigation system is commonly used in under water robot navigation system.This paper used by micro inertial measurement unit MEMS platform inertial navigation system with autonomy,small volume,lightweight,low cost,but the error with the passage of time and the accumulation,not alone for long time nabigation.Autonomous navigation system composed of Doppler velocity log and compass does not exist inertial error divergence problems of missile system,but due to the TCM5 electronic compass heading is the north magnetic ploe is not the true north,so the autonomous navigation system is not very effect.So this paper autonomous navigation system inertial measurement unit and Doppler velocity log on TCM5 electronic compass is composed of course based on the fault diagnosis and two navigation systems are combined,in order to achieve a better nabigation effect.This paperestablished the inertial navigation system and the autonomous navigation system composed of Doppler velocity log and compass with MATLAB software,analyzed and compared,based on the methods of faultor error is big with inertial measurement unit and the Doppler log,the fault diagnosis and appeara in the TCM5 electronic compass,and the two navigation system combination,finally complete navigation tasks.