Study On The Navigation And Control Integrative System Of Underwater Vehicle

The traditional navigation system of the Underwater Vehicle (UV) cannot meet the precise request of position and control. For this reason, a Speedometer-and-Doppler- aided Strapdown Inertial Navigation System (SDSINS) applied for UV is presented in this paper. Based on some special characteristics of SDS[NS, the control system of UV is discussed and derived. Subsequently, the navigation and control systems are investigated and simulated as a whole. The main work is done as follows: First, the formulas to calculating attitudes, velocities and positions and the error transfer formulas of S[NS are deduced and summarized. Aided navigation systems, which can be used in UV, are investigated and the error equations are also advanced. SDSINS is designed and simulated. The simulation result shows that the integrated navigation system can accurately provide the navigation information. Second, based on the existent data about the dynamic model of UV, the approximate nonlinear model of UV convenient for integral calculation is founded and the simple linear model is deduced by the Little Disturbance Theory. According to the fact that SDSINS can measure all the states, state-feedback control and variable structure control are used to design the control system of UV respectively. Simulation results show the efficiency of the controllers designed. Third, the difference and relation of the navigation and control systems?signals are analyzed. According to this, the transformation formulas between the two systems are founded. The navigation and control systems of UV are analyzed through simulation and the result shows that the ultimate navigation precision can reach the position and control request of UV, that robustness and postponement of measuring signals must be taken into account in designing the controller. Finally, the simulation program is compiled in Language C, including the INS calculation module, the Kalman filter module, the control system module, and the connection module of the navigation and control systems. SINS simulation, integrated navigation system simulation, control system simulation and the navigation and control system simulation of UV can be performed through different choices.