Initial coarse alignment method used for navigation of unmanned underwater vehicles at polar regions

Abstract

The invention discloses an initial coarse alignment method used for navigation of unmanned underwater vehicles at polar regions. The initial coarse alignment method used for navigation of unmanned underwater vehicles at polar regions comprises following steps: the initial alignment moment, and direction cosine matrix C<G><e> from earth centered earth fixed e to grid coordinate system G are determined based on the longitude and latitude at polar regions; direction cosine matrix C<G> between an inertial coordinate system and the earth centered earth fixed is determined based on time intervaldelta t; direction cosine matrix C<b<0>> from vector coordinate system b to vector coordinate system b<0> formed via fixed connection of the initial movement with inertial coordinate system is determined based on gyroscope output in a serial inertial navigation system; direction cosine matrix C<b<0>> from the vector coordinate system b<0> formed via fixed connection of the initial movement with inertial coordinate system to inertial coordinate system i is determined; direction cosine matrix C<G> from the vector coordinate system b to grid coordinate system G is determined; calculatingand extracting of phi x, phi y, phi z, delta phi x, delta phi y, and delta phi z obtained via initial coarse alignment are carried out. The initial coarse alignment method is capable of realizing coarse alignment of unmanned underwater vehicles at polar regions effectively, and the precision is better than that of a conventional coarse alignment method at polar regions.

Description

technical field [0001] The invention belongs to the field of coarse alignment algorithms for navigation of underwater unmanned vehicles, in particular to an initial coarse alignment method suitable for navigation of underwater unmanned vehicles during navigation in polar regions. Background technique [0002] Underwater unmanned vehicles are important intelligent equipment for ocean exploration and ocean development. Since it does not require human participation in the process of completing the task, it plays an important role in ocean exploration, ocean development, and submarine pipe-laying operations. Accurate navigation is an important prerequisite for underwater unmanned vehicles to complete their tasks. Since the underwater unmanned vehicle mainly adopts the strapdown inertial navigation system, the initial conditions have an important influence on the accuracy of the strapdown inertial navigation system. Therefore, the initial alignment algorithm is very important. ...

AI Technical Summary

Problems solved by technology

Therefore, the traditional coarse alignment algorithm used for underwater unmanned vehicle navigation in non-polar regions cannot be applied in polar regions

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