Research On Strapdown Inertial Navigation System Of AUV

These years, autonomous underwater vehicle (AUV) has been playing an increasingly important role in scientific survey, resource development and military applications in underwater environments. Besides, underwater navigation technology has been widely studied because of its key position in AUV application. Based on actual AUV project, this thesis mainly studies the navigation system, which is based on strapdown inertial navigation (SINS). Main work is as following:Analysis and study of the navigation principles and basic theory of SINS.Design of the strapdown navigation system of AUV, including the establishment of AUV coordinates, detailed mechanical arrangement and simulation system arrangement. The simulation system has mainly three parts: trajectory generator, inertial sensors simulation and navigation calculation. The whole system is coded in Matlab language. The simulation of inertial sensors is based on the gyro and accelerometer that used in our actual project. The simulation result shows that it meets a certain accuracy of AUV navigation and prepares for actual software programming and project application.Design of SINS/GPS integrated navigation system. Based on deeply study of the error equations of SINS and Kalman filter technology, the Kalman model equations of SINS/GPS navigation system is deduced. The simulation result shows that the integrated system provides higher precision and solves the problem of error increasing with time that is inherent in SINS. This integrated system is applied to navigation correction after a long time sailing underwater.