AUV movable base alignment method and system based on outer product compensation

Abstract

The invention discloses an AUV moving base alignment method and system based on outer product compensation. The method is characterized in that firstly, the AUV is enabled to complete coarse alignmentof a movable base at a starting point, after rough alignment is completed, the AUV linearly runs to a known position, ship position calculation is performed, a displacement vector is constructed according to the track information calculated based on the ship position and an actual track, through track comparison, coordinate system deviation is displayed into a course error angle, and lastly, a course error angle is resolved based on a vector outer product, an obtained course error angle is compensated to the gravitational acceleration, a conversion matrix is corrected by using the accurate gravitational acceleration, when the course error angle is 0, the ship position reckoning point and the actual position point of the AUV are superposed to obtain an accurate strapdown matrix, namely superposing a navigation coordinate system and a real navigation coordinate system, so accurate alignment of the movable base is completed. The method is advantaged in that accurate compensation of coordinate system deviation on the coordinate conversion matrix is realized, particularly, a problem of accurate alignment of the AUV movable base under severe disturbance is solved, calculation is simple,and accuracy is high.

Description

technical field [0001] The invention belongs to the field of initial alignment of underwater vehicles and robots, and in particular relates to an alignment method and system for an AUV dynamic base based on outer product compensation. Background technique [0002] The application of autonomous underwater vehicle (AUV) in modeling of marine environment and exploitation of resources, detection and identification of underwater targets, underwater rescue and salvage, and inspection of underwater equipment is becoming more and more important. The accuracy and real-time performance of underwater glider navigation and positioning are the basis and key to make it glide according to the preset route. [0003] The inertial navigation system has the characteristics of autonomous navigation, good confidentiality, strong anti-interference ability, rich navigation parameters and high navigation accuracy in a short time. However, due to the existence of inherent errors in inertial sensors...

AI Technical Summary

Problems solved by technology

Since there is still a certain error in the coarse alignment of the moving base, fine alignment of the moving base is still required. The commonly used method is nonlinear filtering or the introduction of external information to achieve alignment in motion of the strapdown inertial navigation system, but due to There is a phenomenon that the filtering time is too long, which is easy to cause the phenomenon of filtering divergence, and the introduction of external information also introduces problems such as errors. The fine alignment technology of the moving base is still very immature

How to make the coordinate system deviation can be accurately compensated into the coordinate transformation matrix, so as to achieve precise alignment, there is no good strategy yet

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