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Study of AUV Navigation Technique Based on the Rotating Modulation

Author: MaXiaoFeng
Tutor: DiChuanRun
School: Shanghai Jiaotong University
Course: Navigation,Guidance and Control
Keywords: Micro Underwater autonomous navigation Integrated Navigation System Rotation modulation Constant error modulation Algorithm Verification
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 56
Quote: 0
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Abstract


Miniature underwater robots because of their advantages in cost, size , flexibility , both in the civilian and military fields has broad application prospects . Miniature underwater robot navigation system as one of its key technology , more and more attention at home and abroad . Strapdown inertial navigation system due to its advantages in the hidden and autonomy , become the main way to navigate in the underwater vehicle . However , because of its own errors increasing as time increases , the average global satellite navigation system on a regular basis to correct the position information of the underwater vehicle . Strapdown inertial navigation system with global satellite navigation system composed of navigation methods become the mainstream way of navigation . For Underwater Vehicles need long underwater operations and higher concealment requirements , put forward a series of inertial navigation system as the core , auxiliary magnetic compass , depth gauge , the composition of the kinematic model of the underwater vehicle integrated navigation systems. Error equations for the various components of the module , the design of a Kalman filter algorithm , and the algorithm of integrated navigation system confirmatory test . Strapdown inertial navigation system , a rotating inertia device constant error is modulated into a cycle change signal by integral process strapdown solver will periodically error elimination due to the device low accuracy result in poor precision , in order to achieve the purpose of reducing the error of the navigation system . The static rotational modulation technique strapdown inertial navigation system based algorithm validation tests , test results show that by rotating the modulation accuracy of strapdown inertial navigation system has not been modulated with respect to four-fold increase . A new solution ideas and experimental basis for follow - up work . In the end , for the deficiencies in the system design , the main direction of the follow-up studies need to be carried out as well as possible ways to improve .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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