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Frogman heading and attitude estimation method based on magnetic/inertial combination in emergency

An inertial combination and frogman technology, applied in the field of frogman attitude estimation based on magnetic/inertial combination, can solve problems such as inconvenient movement, poor visibility and direction, and danger, so as to improve the accuracy of navigation attitude and compensate the error of heading attitude , the effect of reducing the complexity of installation

Inactive Publication Date: 2020-12-25
BEIHANG UNIV
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Problems solved by technology

Compared with the underwater environment, the underwater environment is more complicated. For example, more interference leads to poor communication, low visibility leads to poor sense of direction, and greater underwater resistance leads to inconvenient movement.
When frogmen need to carry out other tasks such as search and rescue and salvage in a large area and for a long time, they cannot search or accurately locate the intended target, and are prone to danger underwater

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  • Frogman heading and attitude estimation method based on magnetic/inertial combination in emergency
  • Frogman heading and attitude estimation method based on magnetic/inertial combination in emergency
  • Frogman heading and attitude estimation method based on magnetic/inertial combination in emergency

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Embodiment Construction

[0038] In order to make the purpose, content and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0039] This embodiment proposes a frogman attitude estimation method based on magnetic / inertial combination in an emergency situation. The frogman attitude estimation method includes: taking advantage of the inertial navigation system and the advantages of the magnetic compass, combined with the alignment from entering the water to underwater Complete the series of state transition matrices at the moment, and effectively correct the initial attitude information of the underwater frogman. This method can effectively reduce the hardware complexity and installation complexity, and the initial heading error can be calibrated only with the magnetic compass / inertial combination, so that it is within the accuracy range of the m...

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Abstract

The invention provides a frogman heading and attitude estimation method based on magnetic / inertial combination in emergency. The method is used for underwater heading and attitude estimation of a frogman in emergency, and comprises the following steps that aligning is carried out after the frogman is far away from magnetic interference, based on an underwater alignment result and a series state transition matrix from water-entry to underwater alignment completion time, an initial heading and attitude error is corrected and gyroscopic drift is estimated by adopting a state backtracking method,and navigation calculation is carried out again from the initial moment by combining corrected parameters with stored information. The method effectively calibrates the initial heading and attitude error, enables the initial heading and attitude error to be in a magnetic compass attitude measurement precision range, can effectively compensate position errors and speed errors caused by gyroscope drift, effectively compensates positioning errors caused by initial heading and attitude information errors during emergency diving, and improves navigation positioning precision.

Description

technical field [0001] The invention relates to a method for estimating the heading and attitude of underwater frogmen, in particular to a method for estimating the heading and attitude of frogmen based on the combination of magnetism and inertia in emergency situations. Background technique [0002] With the continuous development of science and technology, frogmen have good application prospects in daily life and military fields. Due to the limitation of navigation means and equipment cost, the navigation and positioning accuracy, work efficiency and reliability of the frogman system need to be improved urgently. In daily life, frogmen can carry out a series of underwater engineering work, such as underwater plugging, underwater photography, underwater maintenance, underwater salvage, underwater dredging, underwater installation, underwater rescue, etc. Compared with the underwater environment, the underwater environment is more complicated. For example, more interference...

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 张延顺万震李明
Owner BEIHANG UNIV
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