Research And Design On Integrated Navigation System For The Unmanned Surface Vehicles

Ocean accounts for 71.8 percent of the earth’s surface. Now, it is becoming increasingly fierce competition for marine resources. The increasing attention on marine resources by each country makes the conflict more frequently. As countries respect the investigation, detection, intelligence gathering and other operations to marine resources more frequently, the development of Unmanned Surface Vehicles become more and more important. As one of the most important part of the USV, the navigation system plays an important role in USV for determining the accuracy and validity of USV. Strap-down Inertial Navigation Systems (SINS) and Global Positioning System (GPS) are two common navigation and position systems. The combination of the two types of navigation can not only overcome the shortcomings of the systems used alone, but also improve the system’s accuracy and reliability. This paper is intended to focus on study of the integrated navigation system based on SINS/GPS. The main work of this thesis is as follows:(1) First of all, this paper analyses and calibrates the error of MIMU device used in navigation system. It derives the calibration algorithm of gyroscope, accelerometer and magnetometer and calibrates the MIMU by using the method we proposed. In order to verify the correctness of the calibration method, it gives the comparative experiment to calibrate the MIMU by using traditional calibration method and calibration method we proposed in this paper and finally verifies the correctness of the method we proposed.(2) Secondly, this paper researches the attitude solver Algorithm method we used in the system based on extended Kalman Filter. It describes the current method of attitude solver Algorithm, derives the state equation and measurement equation for the quaternion attitude solver algorithm method based on extended Kalman Filter. In the end, it executes the offline semi-physical experiments by collecting the data outputted by MIMU and verifies the method’s correctness.(3) Then, this paper makes the simulation of SINS/GPS integrated navigation used in system. It describes the loose coupling and tight coupling of SINS/GPS integrated navigation system and derives the algorithm of loose coupling of SINS/GPS integrated navigation system by using speed and position provided by GPS. Then, it carries out the comparative simulation between no GPS condition and SINS/GPS combination condition, and the final results prove that the accuracy and reliability of the navigation system can be improved by using the loose coupling of SINS/GPS Integrated navigation system.(4) Finally, this paper designs and validates the USV integrated navigation system and the main control system in terms of a series of data test. It selects the device of USV and designs its integrated navigation system and the main control system. In the end, it tests the integrated navigation system and main control system of USV and verifies the feasibility of the system we designed by analyzing the testing results.