The research of the switching INS´s working state based on the underwater vehicle space motion

Dynamic error of Platform inertial navigation system (INS) can be caused by vehicle movement, then the model of underwater vehicle will be built. The INS´s working state can be decided by the controlling information of the underwater vehicle. This paper also gives the time when the submersible changes its motion state exactly. The INS´s working state is switched at this time. This method can instead of the conventional way switching the INS´s working state by accelerate meter or course changing. It will reduce the dynamic error caused by submersible motion.