首页>
外国专利>
NAVIGATION AND POSITIONING SYSTEM FOR UNDERWATER GLIDER, AND FLOATING PRECISION CORRECTION METHOD
NAVIGATION AND POSITIONING SYSTEM FOR UNDERWATER GLIDER, AND FLOATING PRECISION CORRECTION METHOD
展开▼
机译：水下滑翔机导航定位系统及浮动精度校正方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
A navigation and positioning system for an underwater glider, and a floating precision correction method. The navigation and positioning system for an underwater glider comprises a microelectromechanical system inertial measurement unit, a global satellite positioning system receiving module, a triaxial magnetometer, a Doppler tachymeter and a combined navigation hardware processing system. With regard to the problems of a multi-sensor data merging algorithm having a low navigation precision, and positioning being divergent and even failing due to influence from factors such as ambient bad weather, the fluctuation of sea waves and blockage by vessels during floating precision correction, a H∞ Kalman filtering algorithm based on multiple adaptive fading factors is established to ensure the robustness and adaptivity of the navigation and positioning of the glider. The problems of reduced and divergent navigation and positioning precision caused by conventional combined navigation algorithms during floating correction of the underwater glider under extremely bad conditions, leading to the glider being unable to continue operating normally, are solved, and thus the precise positioning of the underwater glider is finally realized.
展开▼
