Abstract
Due to its highly autonomy, the strapdown inertial navigation system (SINS) is widely used in unmanned underwater vehicles (UUV) navigation. Initial alignment is crucial because the initial alignment results will be used as the initial SINS value, which might affect the subsequent SINS results. Due to the rapid convergence of Earth meridians, there is a calculation overflow in conventional initial alignment algorithms, making conventional initial algorithms are invalid for polar UUV navigation. To overcome these problems, a polar initial alignment algorithm for UUV is proposed in this paper, which consists of coarse and fine alignment algorithms. Based on the principle of the conical slow drift of gravity, the coarse alignment algorithm is derived under the grid frame. By choosing the velocity and attitude as the measurement, the fine alignment with the Kalman filter (KF) is derived under the grid frame. Simulation and experiment are realized among polar, conventional and transversal initial alignment algorithms for polar UUV navigation. Results demonstrate that the proposed polar initial alignment algorithm can complete the initial alignment of UUV in the polar region rapidly and accurately.
Highlights
IntroductionThe development of unmanned underwater vehicles (UUVs) has accelerated notably.UUVs play important roles in many aspects [1,2]
In recent years, the development of unmanned underwater vehicles (UUVs) has accelerated notably.UUVs play important roles in many aspects [1,2]
The polar initial alignment algorithm for polar UUV navigation consists of polar coarse and fine alignment algorithms
Summary
The development of unmanned underwater vehicles (UUVs) has accelerated notably.UUVs play important roles in many aspects [1,2]. Strapdown inertial navigation systems (SINSs) are widely used in UUVs both in the polar region and in non-polar regions since they are highly autonomous [3]. A SINS is essentially a process of recursive calculation under some initial conditions. It is based on the output of inertial measurement units (IMUs) that consists of gyroscopes and accelerometers. The initial position and initial velocity can be obtained with the help of external auxiliary information. The main task of initial alignment is to determine the accurate initial attitude matrix. Initial alignment of SINS in UUV is intended to determine the initial attitude matrix in a short time with certain accuracy [6]. Global navigation satellite systems, such as Global
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