A sins/dvl underwater anti-shaking alignment method for a deep-sea submersible

Abstract

A strapdown inertial navigation system(SINS) / doppler velocity logger(DVL)-based underwater anti-shaking alignment method for a deep-sea underwater vehicle. On the basis of a non-linear error model for a large misalignment angle established according to characteristics of a complex underwater environment and a strapdown inertial navigation and four-beam underwater Doppler navigation system, and a fine alignment filter equation, an underwater alignment process for a deep-sea underwater vehicle is divided into: SINS anti-shaking double-vector-based orientation determination autonomous alignment, and SINS / DVL singular value decomposition(SVD)-based fuzzy adaptive robust cubature Kalman filter (CVF) alignment. The invention further reduces the orientation misalignment angle while ensuring robustness, thereby providing a more accurate orientation matrix, and achieving accurate orientation determination for deep-sea underwater vehicles.

Description

Technical field: [0001] The invention relates to a SINS / DVL underwater anti-shaking alignment method of a deep-sea submersible, belonging to the technical field of navigation. Background technique: [0002] The ocean is rich in resources and energy. During the development process, deep-sea submersibles play an important role in many aspects, such as the monitoring of the marine environment and the identification of underwater targets. The unique driving and motion performance of the deep-sea submersible makes it have a greater performance advantage compared with other unmanned underwater vehicles. However, deep, long-distance, and long-term underwater navigation requires high accuracy of initial alignment. However, the complex underwater environment of ocean currents and the possibility of fish school impact will cause the base to shake. In the case of a large misalignment angle, the initial alignment speed and accuracy of the deep-sea submersible will decrease, which will...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a kind of SINS (strapdown inertial navigation system) / DVL (Doppler velocimeter) underwater anti-shaking alignment method of a kind of deep-sea submersible, through SINS anti-shaking double-vector fixed attitude self-alignment (coarse Alignment) and SINS / DVL fuzzy adaptive robust CKF (volume Kalman filter) filter alignment (fine alignment) based on SVD (singular value) decomposition to ensure the robustness and Rapidity, in order to overcome the problem that the speed and accuracy of the traditional inertial navigation alignment algorithm reduce the attitude determination speed and accuracy of the deep-sea submersible under the condition of shaking the base and large misalignment angle during the initial alignment, so that the submersible cannot continue to work normally. Finally, the long-endurance work of the deep-sea submersible is realized

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