The Research And Development Of "XUANWU" AUV's Integrated Navigation System

AUV is the important tool for people to explore the ocean,the accuracy of navigation system as AUV's important part is continuously improving.During long navigation of single Strap-down Inertial Navigation System(AHRS),navigation error will continue to accumulate.Through the introduction of GPS,DVL and other assisted navigation devices,it can improve the accuracy of integrated navigation system,which can make AUV complete the task in the long time and long range travel.This paper first introduce AHRS' basic knowledge and build a Simulink platform of this system,it greatly accelerate the navigation system's development process.On this basis,the paper presents AHRS/GPS/DVL integrated navigation system,and the core of it is micro inertial navigation system.When AUV is under the water,it uses DVL for assisted navigation,and the GPS navigation data is introduced to correct the error of underwater navigation.In the study,the mathematical model of AHRS/GPS and AHRS/DVL integrated navigation systems were built through Kalman filter algorithm.Finally,the performance of integrated navigation system is analyzed and compared by using MATLAB.In order to better use the simulation results,it make some explorations on the engineering application of the integrated navigation system in this paper.The navigation system is applied to the "XUANWU" AUV which is made by Han lab,and it includes navigation system's hardware part and software part.And the hardware part includes navigation computer,micro inertial attitude reference system(AHRS),GPS and depth sensor.Software part which is based on ?C/OS-? embedded real-time operating system realizes the drive of AHRS,the construction of FATS file system based on STM32 and so on,and finally the system was installed and water test was carried out.