Design And Verification Of SINS/DVL/USBL Underwater Integrated Navigation System

With the increasing scope of marine exploration,the performance of underwater navigation system,such as accuracy,anti-jamming ability,has been put forward higher and higher requirements.Strapdown inertial navigation system is widely used in the field of underwater navigation due to its advantages of high autonomy and good real-time performance.However,the inertial navigation system has the disadvantage of error accumulation with time.In addition,in the underwater environment,the radio signal attenuation is serious,and the combination of inertial navigation,Doppler and acoustic navigation and positioning equipment is often used for navigation.In this paper,a SINS / DVL / USBL integrated navigation system is proposed based on the high-precision navigation and positioning of the underwater vehicle.The experimental platform of the integrated navigation system is built.The information fusion scheme of the integrated navigation system is designed on the basis of the principle and error analysis of each subsystem.Finally,the integrated navigation system designed in this paper can be verified by experiments.Meet the practical application requirements of underwater vehicles.The main contents of this paper are as follows:(1)Overall design: on the basis of defining the system composition and function and putting forward the overall design index of the system,the main components of the integrated navigation system are selected;the overall mechanical structure of the system is designed by using the corresponding software;the hardware platform of information processing and solution is established on the DSP + FPGA architecture;the software functions of information collection,solution and communication are completed Can be realized.(2)Principle and error analysis: on the premise of defining common navigation coordinate system,the basic principles of sins,DVL and USBL are analyzed;on this basis,the corresponding error model is established;the IMU in SINS system is calibrated and compensated and the random error parameters are identified.(3)Filter design: the advantages of integrated navigation and the basic principle of Kalman filter are introduced;the state equation and observation equation of SINS / DVL / USBL integrated system are derived and established;under the framework of federated filter,the filter design of integrated navigation system is carried out with no restart structure.(4)Experimental verification: the corresponding static and dynamic experiments are designed.The experimental results show that the navigation accuracy of the integrated navigation system meets the design requirements,and the system is stable and reliable.The heading accuracy of the integrated navigation system is better than 0.1°sec L(L is the local latitude),and the attitude accuracy is better than 0.02°.Based on GPS positioning,the underwater positioning accuracy of the system is better than 0.35%of the range.