Результаты лабораторных испытаний подводной навигационной системы для аппаратов экологического контроля

Abstract

An urgent task facing the developers of unmanned underwater vehicles (UUVs) (autonomous underwater vehicles, remotely operated underwater vehicles) is to improve the accuracy of determining the output navigation parameters: orientation angles, linear velocities and location coordinates. The systems for determining the course and attitude position (Attitude and Heading Reference Systems – AHRS) and spatial positioning systems, which are supposed to equip the UUV, should not be expensive, but technologically suitable for mass production with acceptable coordinate determination accuracy. At the first stage of the research, a prototype of the navigation platform with software for it was developed and manufactured, on which experimental data from the measuring channels were obtained in laboratory conditions, and then their preliminary processing was carried out. The analysis of existing methods for increasing the accuracy of determining the output navigation parameters of unmanned underwater vehicles showed that, despite their dynamic development and constant improvement, the error in calculating coordinates when using MEMS sensors remains high and unstable. The use of an additional hydrostatic tilt unit in the navigation platform will make it possible to compensate for the errors of MEMS sensors, which require constant correction during their stable operation, unfortunately, only for a short period of time. The analysis of typical errors of MEMS sensors is carried out. The deterministic part of the error of these sensors can be eliminated by calibration, and to estimate the stochastic errors, we used the Allan variation. The obtained error values will be used in the future to form the Kalman filter of the resulting system.