Study On High Precision Acceleration For Inertial Navigation System In Deep Sea

This paper studied the high precision acceleration for 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, combining the environment of deep-sea, a structure for deep-sea inertial navigation acceleration measurement unit was designed. And on this basis, one method for the calibration of accelerometers was researched. Three measures were used to improve the measurement accuracy of accelerometers in inertial navigation system of deep-sea. The marine environment was simulated to test the accuracy of navigation systems both in the laboratory and on the road.First of all, a six-accelerometer inertial measurement unit structure was designed according to the characteristics of deep-sea navigation environment. And according to the configuration of six accelerometers and quartz accelerometer error model, the error sources of accelerometer in inertial navigation system of deep-sea was analyzed.Secondly, according to the structure of inertial measurement unit and simplified error model for accelerometers, a structure and a method for the calibration for accelerometers were designed.Thirdly, took three measures to improve the measurement accuracy of accelerometers in inertial navigation system of deep-sea which were temperature compensation for accelerometers, temperature compensation for circuit board measuring acceleration and date fusion for multi- accelerometers.At last, the overall program and the hardware circuitry were designed. The marine environment was simulated in the laboratory to verify the accuracy of navigation system and the accuracy of acceleration data for navigation was analyzed.