Research On Micro-inertial Navigation System Synergy Combination Of Information Technology

With growing attention paid to exploration of marine resources and maritime warning,navigation technology of USV has been received rapid development, and become the study hotspot. The main research object of this paper is integrated navigation system of the USV.The USV has been equipped with MEMS-INS, DVL and underwater acoustic communication equipment. Considering cost and performance, low cost magnetometer and compass are optional. Taking full advantage of the cooperative information, carried out following boat integrated navigation technology research.Firstly, In view of micro inertial integrated navigation system of subordinate boat, the basic theory is introduced and analysed. The merits and drawbacks of four attitude algorithms in inertial integrated navigation are compared. Compensation algorithms for coning error and rowing effect in inertial integrated navigation calculating are simulated and analyzed. In addition, In view of subordinate boat MEMS-INS magnetometer, analyzed the working principle and error model. Doppler effect, velocity measurement principle and four-beam Doppler error modeling are discussed. The cooperative information localization model is derived based on two pilot boats. At the same time, for subordinate boat equipped with navigation equipment, and optional navigation equipment, this paper compares and analyzes the characteristics of clear navigation equipment on the whole the contribution and status of the integrated navigation system, finally combined into three integrated navigation scheme.Secondly, the procedure of system model building and filtering simulation analysis are labored aimed at different integrated navigation systems. Aiming at the MEMS-INS/magnetometer/accelerometer system, the difference between the attitude information calculated by magnetometer/accelerometer and attitude information calculated by MEMS-INS is used as the measurement value of the Kalman filter to compensate the drift error of the gyro.The error accumulation of MEMS-INS is restrained and as a result,the navigation output precision of MEMS-INS is increased. Aiming at the DVL/compass/underwater acoustic location system, the dead reckoning system are formed by the course signal of low cost compass and Doppler velocity information. Because of the long time navigation, the position error of the dead reckoning system becomes divergent. The difference between the underwater acoustic position information of the USV and the position information calculated by the dead reckoning system is used an the measurement value of the Kalman filter to restrain the position error divergence because of the long time navigation. So the navigation precision of DR is increased.Finally,through the simulation analysis of three kinds of integrated navigation scheme,it is concluded that MEMS-INS/magnetometer integrated navigation scheme, can be used for uniform sailing or under stationary state correction after boat MEMS-INS attitude error;Compass/DVL/acoustic positioning information integrated navigation scheme used motion,but the navigation precision is less than the MEMS-INS/DVL/acoustic positioning information integrated navigation scheme,can be used as a backup navigation system for subordinate boat. MEMS-INS/DVL/acoustic positioning information integrated navigation scheme is applied to the subordinate boat navigation system, can meet the requirements of following boat for navigation and positioning accuracy, has a certain practicality.