Southeast University

Lin Fang

Xiyuan Chen

Junwei Wang

Ping Yang

Wei Dong Wang

Bingbo Cui

Zhengyang Zhao

A navigation and positioning system for an underwater glider includes a micro-electro-mechanical system inertial measurement unit, a global positioning system receiving module, a triaxial magnetometer, a Doppler velocimeter, and an integrated navigation hardware processing system. If a navigation and positioning error is too large, the underwater glider stops working in real time and switches from the underwater working state to the up floating error correction state; and when velocity and location errors of a GPS/INS integrated navigation system are smaller than specified thresholds, the underwater glider switches from the up floating error correction state to the underwater working state and continues to work. An H∞ Kalman filter algorithm based on an adaptive multiple fading factor is established to ensure robustness and adaptability of navigation and positioning of a glider.

Navigation and positioning system for underwater glider and up floating error correction method

A dual-filter-based transfer alignment method under dynamic deformation. A dynamic deformation angle generated under dynamic deformation and a coupling angle between dynamic deformation and body motion will reduce the accuracy of transfer alignment; and a transfer alignment filter is divided into two parts, the first part estimates a bending deformation angle and the coupling angle, and uses an attitude matching method, and the second part estimates a dynamic lever arm, and uses a 'speed plus angular speed' matching method.

Dual-filter-based transfer alignment method under dynamic deformation

A method for decoupling an angular velocity in a transfer alignment process under a dynamic deformation includes: (1) generating, by a trajectory generator, information about an attitude, a velocity, and a position of a main inertial navigation system and an output of an inertial device, and simulating a bending deformation angle {right arrow over (&#x3b8;)} between the main inertial navigation system and a slave inertial navigation system and a bending deformation angular velocity {right arrow over (&#x3c9;)}by using second-order Markov; (2) decomposing the dynamic deformation into a vibration deformation and a bending deformation, and establishing an angular velocity model under the dynamic deformation of a wing; (3) deducing an error angle &#x394;{right arrow over (&#x3d5;)} between the main inertial navigation system and the slave inertial navigation system; and (4) deducing an expression &#x394;{right arrow over (&#x3c9;)} of a coupling error angular velocity, and applying that to an angular velocity matching process of transfer alignment to improve the precision of the transfer alignment.

Method for decoupling angular velocity in transfer alignment process under dynamic deformation

The present invention discloses a cubature Kalman filtering method suitable for high-dimensional GNSS/INS deep coupling, including: S, constructing a high-dimensional GNSS/INS deep coupling filter model; S, generating an initialization cubature point for the constructed filter model by using standard cubature rules; S, performing CKF filtering by using novel cubature point update rules. The present invention is suitable for high-dimensional GNSS/INS deep coupling filtering with high precision and high stability.

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Nanjing, China

Lin Fang