Underwater Vehicle Inertial Measurement After The State Estimation Method For

In the modern sea war, cruise missile is a revolution to submarine. It makes submarine not only attack long-distance warship and submarines, but also attack the targets on the earth. Cruise missile is sent to surface by underwater carrier in virtue of torpedo launching tube. Taking account of separating of cruise missile and carrier, increasing hit probability of missile and safeguarding launching submarine, the requirements for velocity, attitude angle, position and etc of underwater carrier are very strict. In order to solve the above key technologic problems, adjusting controlling parameters time after time in practical navigation experiments to reach expected result is needed. So this thesis put forward the project that use inertial measurement unit (IMU) to measure and record angular velocity and acceleration of the underwater carrier during its underwater trajectory, then process them and estimate the state (include the velocity, attitude and position) of underwater carrier after the experiment, so that provide accurate basis for evaluating of trajectory and adjusting of controlling parameters.In thesis the post-mission state estimation principle and method of inertial measurement for underwater carrier are studied, and some key technologies of improving precision of state estimation are also researched systematically and entirely. The main contributions are as follows:1. According to the basic principles of inertial measurement, the post-mission state estimation principle and method of inertial measurement for underwater carrier are studied. And the algorithms of the attitude matrix are discussed in detail.2. The error criterion is derived from rotation vector concept directly. In attitude algorithm, the estimation errors of two-sample, three-sample rotation vector algorithms and quaternion algorithm are also derived under the condition of coning motion and the angular rates of gyros as their outputs. And the improved two-sample rotation vector algorithm is presented, the computer loading of the attitude algorithms are also analyzed.3. The accuracy of attitude algorithms for angular rate input is compared under the condition of coning motion via digital simulations. The results are consistent with...