The research of INS´s error analysis for underwater vehicle in complex sea conditions

According to the sea environment of the underwater vehicle motion space, taking inertial navigation system (INS) as the research object- the motion mathematical models in the more actual environment were analyzed and simply built. Through coordinate Transformations and mathematical solution, the information of underwater vehicle real space motion and various kinds of interference force was embedded in INS. The paper design a method to control the space motion of underwater vehicle according to the given initial information, the information of the rudder angle of underwater vehicle and propeller thrust information. And based on calculations of the underwater vehicle space motion model, the error simulation navigation system based on underwater vehicle motion was built. With the simulation when the INS uses hi level damp state. INS working in the complex sea conditions which have ocean wind, current and wave will cause more overshoot than it working in clam water. This method can provide a good technical support for the research of INS´s error propagation properties in complex sea conditions.