Underwater glider navigation system and high-precision attitude estimation method

The invention discloses an underwater glider navigation system and a high-precision attitude estimation method. The underwater glider navigation system mainly comprises an inertial unit and an external host processor, wherein an inertial system with high integration density is adopted, and a triaxia...

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Bibliographic Details
Main Authors ZHANG HUAIYU, SHU NANZHANG, ZHU XUEFEN, TANG XINHUA, CHEN XIYUAN, HUANG HAOQIAN
Format Patent
LanguageChinese
English
Published 31.05.2017
Subjects
GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
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Summary:The invention discloses an underwater glider navigation system and a high-precision attitude estimation method. The underwater glider navigation system mainly comprises an inertial unit and an external host processor, wherein an inertial system with high integration density is adopted, and a triaxial magnetometer, a triaxial accelerometer, a three-axis gyroscope and a pressure sensor are arranged inside. The method comprises the steps of initializing, then sampling, processing, calibrating, and loading data of the sensor into an output register through an SPI (Serial Peripheral Interface); embedded compensation, thus quickly and effectively acquiring data from the SPI after powering on; using a data processing unit with high performance to process an entry address of an auxiliary kernel as special data in a multi-kernel mapping file, thus enabling other kernels to be triggered more easily. The underwater glider navigation system provided by the invention has the complete and integrated sensor part, supports h
Bibliography:Application Number: CN2017129838