Error Compensation Methods For Inertial Navigation System In Deep Sea

This paper studied the navigation algorithm and error compensation method of inertial navigation system in deep sea.Because of the lack of long-time navigation means for underwater vehicles and the lack of GPS navigation application in deep sea, strapdown inertial navigation technology of underwater vehicles and mathematics model and platform was researched;combined with zero-velocity correction technology and DVL/SINS navigation method,an error compensation method of underwater inertial navigation system was put forward.First of all,the thesis introduced for deep-sea remote underwater vehicles for small low-power inertial navigation system hardware.Research and the establishment of deep-sea environment of digital simulation of inertial navigation systems,including inertial navigation subsystem solver,inertial sensor simulator as well as deep-sea underwater vehicles,such as sailing simulator for the study of inertial navigation system error model and compensation approach provides a mathematical Simulation of system platform.Secondly,the deep-sea environment strapdown inertial navigation system error is studied.Analysis of the strapdown inertial navigation system error sources studied gyroscope,accelerometer error propagation law of error state model is derived,and built inertial navigation system error simulation platform.Design of quadratic curve fitting feedback zero speed amended error compensation algorithm,verification results show that can effectively improve the navigation accuracy.Based on INS / Doppler navigation principles,proposed and designed an estimated / backward error compensation methods,with real-time estimation error feedback compensation and time open-loop back error compensation function,the certification results show that with the traditional optimal estimation filtering methods,markedly improved the accuracy of navigation.