Integrated navigation device for underwater glider and navigation method therefor

Abstract

The invention discloses an integrated navigation device for an underwater glider and a navigation method therefor. The integrated navigation device for an underwater glider is characterized in that the integrated navigation device comprises an electronic compass, a micro-electro-mechanical system (MEMS) inertia measurement unit, a global satellite system receiving module and a digital signal processing module; an inertial integrated navigation and positioning system comprising the electronic compass and a posture measuring unit comprising a MEMS gyro and an accelerometer cooperates with a control system; a digital signal processor (DSP) module is utilized as a navigation resolving part; and independent and accurate positioning of an underwater glider is realized through processes of noise reduction, temperature compensation, non-linear correction, cross-coupling compensation and dead reckoning on various sensors in a full temperature range. The integrated navigation device for an underwater glider has a small volume, a high integration level, low power dissipation, long endurance and a low cost, can fast and accurately acquire current posture and position information of an underwater glider, can keep the balance of the underwater glider, and can provide track and position parameters for the underwater glider.

Description

technical field [0001] The invention relates to a design and method of a combined navigation device for an underwater glider. The device has the characteristics of small size, low power consumption, and long flight time, and can realize accurate positioning and autonomous navigation of the underwater glider. Background technique [0002] Electronic compass can be divided into planar electronic compass and three-dimensional electronic compass. Compared with planar compass, three-dimensional electronic compass has an inclination sensor inside, which overcomes the strict limitation of planar electronic compass in use. Even if the compass tilts, the heading data still remains Exactly. Some compasses also have built-in temperature compensation to minimize temperature drift in tilt and pointing angles. Electronic compass technology is widely used abroad, but there are still some problems in underwater applications. [0003] GPS technology has a wide range of applications in navi...

AI Technical Summary

Problems solved by technology

[0004] The integrated navigation system based on inertial navigation and integrated with GPS and electronic compass has been widely used in land, aviation, aerospace and surface carriers at home and abroad. However, the underwater glider works for a long time underwater, and the GPS information cannot The single inertial navigation cannot meet the positioning requirements, and because the underwater glider has high requirements on power consumption, volume and accuracy, the integrated navigation system has not been well applied in the underwater glider

[0005] How to make use of the advantages of GPS, electronic compass, and strapdown inertial integrated navigation system to optimize the overall performance of the system and meet the requirements of long endurance, low power consumption, and small size of underwater glider? This system has not been reported at home and abroad

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