Title :
The initial alignment crucial technique of strapdown inertial navigation system for AUV
Author :
Jianhua, Cheng ; Jibin, Zou ; Shitong, Chen ; Xinbo, Liu
Author_Institution :
Sch. of Electr. Eng. & Autom., Harbin Inst. of Technol., Harbin
Abstract :
The navigation system and its initial alignment method for autonomous undersea vehicle(AUV) is studied in this paper because AUV has the special need towards navigation and its initial alignment method. First, the crucial error factor is deep analyzed when AUV have angle movement and linear movement. Secondly, four-order gyrocompass loop is designed which has strong anti-jamming characteristic by method of perturbation. At last the effectiveness of the alignment method is validated by computer simulation, swing experiment and moor experiment.
Keywords :
inertial navigation; perturbation techniques; underwater vehicles; AUV; antijamming characteristic; autonomous undersea vehicle; crucial error factor; four-order gyrocompass loop; initial alignment method; perturbation method; strapdown inertial navigation system; Automation; Automotive engineering; Computer errors; Computer simulation; Error analysis; Inertial navigation; Remotely operated vehicles; Silicon compounds; AUV; Four-order horizontal alignment; Intial Alignment; SINS;
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
DOI :
10.1109/CHICC.2008.4605376
