Research On Motion Acceleration Extraction Technology Of Underwater Low Velocity Carrier In Gravity Field

In the field of gravity,the acceleration extraction technology of underwater low vertical carrier in deep control,or in the gravity measurement field are of important applications,how will the vertical acceleration and acceleration of gravity separation also has been a focus of research in these areas.Maintain a fixed depth of water transport under high inertia carrier without speed under water condition is one important way to anchor their underwater,weak acceleration measurement accuracy is one of the key factors influencing the control accuracy of underwater vehicle depth.This paper has developed a small acceleration measurement platform,combined with the actual access to external information,the establishment of accelerometer in the underwater gravity field variation in measuring acceleration and acceleration of gravity model to complete the program,the main research contents include:1?Combined with the micro acceleration measuring instrument,this paper introduces how to build the coordinate system of the device,and then the acceleration coordinate system is projected to the geographic coordinate system.Required attitude accuracy.In view of the fact that the measuring device has no attitude measuring device,the attitude information is put forward by aligning with the external attitude measuring device.2?For the long term drift of gyroscope is large,a greater impact on the acceleration of projection to the geographic coordinate system,combined with the accelerometer and good long-term stability,is put forward by using three axis accelerometer gyroscope drift way information.3?Combined with the information provided by water download physical fitness,analysis of the acceleration solution,the acceleration of motion and the separation of gravity acceleration.Finally,through the micro acceleration measurement instrument,combined with the algorithm simulation,and build a simple platform in the laboratory to verify the correctness of the whole theory.It is preliminarily indicated that the whole process is feasible.