Deep-diving long-endurance submersible SINS/DVL ocean current speed estimation method

• Main Authors: PU WENHAO, ZHAO MIAOMIAO, SHENG GUANGRUN, ZHAO LIYE, LIU XIXIANG, LIU XIANJUN, HUANG YONGJIANG, WANG ZIXUAN, ZHANG YUPENG
• Format: Patent
• Language: Chinese; English
• Published: 30.04.2021
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses a deep-diving long-endurance submersible SINS/DVL ocean current speed estimation method which comprises the following steps: 1, performing navigation calculation output twice on the basis of a strapdown inertial navigation system SINS under specific trajectory motion, namely SINS1 and SINS2, designing a high-pass filter to obtain the real horizontal speed of the SINS1, and combining the real horizontal speed with the SINS2 to realize SINS self-aided navigation; 2, according to the Doppler effect principle, the deep diving long-endurance submersible working in the middle-layer water area uses a water tracking mode of a Doppler log DVL to measure the convection velocity; and 3, estimating the ocean current speed by using a least squares estimation algorithm RLS in combination with high-precision navigation parameters provided by SINS self-aided navigation and the convection speed obtained by using DVL. According to the method, the ocean current speed information of the middle-layer water