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lever arm Compensation of Autonomous Underwater Vehicle for Fast Transfer Alignment

Computers, Materials & Continua 2019年第4期59卷 105-118页

作者： Qi Wang Changsong Yang Shaoen Wu Yuxiang Wang School of Computer and software Nanjing University of Information Science and TechnologyNanjing210044China Jiangsu Engineering Center of Network Monitoring Nanjing University of Information Science and TechnologyNanjing210044China Department of Computer Science Ball State UniversityMuncie 47306USA

Transfer alignment is used to initialize SINS(Strapdown Inertial Navigation System)in motion.lever-arm effect compensation is studied existing in an AUV(Autonomous Underwater Vehicle)before launched from the mother ship.The AUV is equipped with SINS,Doppler Velocity Log,depth sensor and other navigation sensors.The lever arm will cause large error on the transfer alignment between master inertial navigation system and slave inertial navigation system,especially in big ship situations.This paper presents a novel method that can effectively estimate and compensate the flexural lever arm between the main inertial navigation system mounted on the mother ship and the slave inertial navigation system equipped on the AUV.The nonlinear measurement equation of angular rate is derived based on three successive rotations of the body frame of the master inertial navigation system.Nonlinear filter is utilized as the nonlinear estimator for its capability of non-linear approximation.Observability analysis was conducted on the SINS state vector based on singular value decomposition method.State equation of SINS was adopted as the system state equation.Simulation experiments were conducted and results showed that the proposed method can estimate the flexural lever arm more accurately,the precision of transfer alignment was improved and alignment time was shortened accordingly.

关键词： Transfer alignment SINS lever-arm effect AUV observability analysis

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A Study on Transfer Alignment for Ship-Borne Strap-Down Inertial System

A Study on Transfer Alignment for Ship-Borne Strap-Down Iner...

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2010 International Symposium on Inertial Technology and Navigation

作者： CHEN Pu WANG Yan-dong LIU Wei-peng (School of Automation Science and Electrical Engineering BUAA Beijing China)

＜正＞This paper studies on transfer alignment for ship-borne weapon system.An important factor that contributes to the last precision of transfer alignment for ship-borne strap-down inertial system is lever-arm effect.In common transfer alignment models in common use,lever-arm size is not considered and mechanics algorithm method is used to compensate lever arm effect.This paper deduces differential equation,adds lever-arm size as state variable,designs transfer alignment model and filter.Simulation results show that this model can reduce the disturbance of lever-arm error without mechanics lever-arm error compensation.Besides,considering the characteristic of transfer alignment on swing base,method for azimuth alignment is also studied and simulation results are presented.It is shown that this method can improve the accuracy of azimuth alignment obviously.

关键词： transfer alignment lever-arm effect azimuth alignment

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