Integrated Navigation System In The Water, Dive In The Application

A high precision navigation system is not only the necessary condition of theUnderwater Vehicle to obtain available information, but also a determining factor ofwhether the Underwater Vehicle can work and return safely. Therefore, the high precisionnavigation system is a key technique of studying the Underwater Vehicle.Based on the practical requirement and the developing of navigation technique, anintegrated navigation system of the Underwater Vehicle is designed. By means ofsimulation study, the results indicate that the design methods are proper, which can gain ahigh position precision. In the end, the integrated navigation system is tested by the lakeexperiment, it proves the feasibility and reliability, the forecast precision can meet thegiven requirement.The main researches are as follows:(1) The principle of the strapdown inertial navigation system, doppler velocity log,GPS and electronic compass are introduced respectively. After analyzing the error source ofeach sensor, error model equations are established.(2) The integrated system of Underwater Vehicle is designed to realize its practicalapplications. The compensating error of EC is studied.(3) The dead reckoning is studied, and the simulation results showed that the erroraccumulated with time.(4) The Kalman filter is introduced, the noise is analyzed, the Kalman filter ofSINS/DVL is designed and also its result is analyzed.(5) Aim at the integrated navigation system, the lake experiment is done.Experiment data convince the model of the integrated navigation system, and proves thatthe Kalman filter can improve the position precision. It provides advantageous assurancefor the Underwater Vehicle to work reliably.Through the studies, it proves that the integrated navigation system can provide highposition precision for the Underwater Vehicle.