Initial orientation information assisted rapid transfer alignment method for autonomous underwater vehicle

• Main Authors: WU WENQI, PAN XIANFEI, WANG LIN, TIE JUNBO, ZHANG LU, JIANG MINGMING, JIANG QING'AN
• Format: Patent
• Language: English
• Published: 04.11.2015
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

Aiming at the problem that the existing transfer alignment method, while ensuring the inertial navigation alignment accuracy of an autonomous underwater vehicle, can not achieve quick disconnection of a moving reference and the autonomous underwater vehicle, and one-tome laying of multiple autonomous underwater vehicles, the present invention discloses an initial orientation information assisted rapid transfer alignment method for autonomous underwater vehicle. The present invention comprises the following four steps: 1, initial information bookbinding, and separation of the autonomous underwater vehicle form the moving reference; 2, determination of autonomous underwater vehicle attitude update equation, velocity update equation and location updating equation; 3, determination of a Kalman filtering equation and an observation equation; and 4, Kalman filtering correction of autonomous underwater vehicle attitude and speed errors, so as to complete transfer alignment. The invention realizes quick disconnection of moving reference and the autonomous underwater vehicle, keeps the inertial navigation alignment accuracy of the autonomous underwater vehicle and realizes one-tome laying of multiple autonomous underwater vehicles.