DESIGN ON MICRO INERTIAL INTEGRATED NAVIGATION SYSTEM OF UNDERWATER SUPERHIGH SPEED MOTION BODY

摘要

For high-speed sailing in the water, the weight and cubage not only of the vehicle but also of the navigation system ensuring the precision may be as possible as small. For this aim, the strap down inertial system is adapted in the design. The traditional electromechanical navigation platform is substituted by mathematical platform. The micro inertial measurement elements (micro accelerometer, micro gyroscope, micro inertial measurement unit) are installed straight on the vehicle. The micro inertial measurement unit(MIMU) substitude traditional inertial measurement unit(IMU). AS the sensitive element The MIMU compose the DVL/mico inertial navigation system. AS the calculation platform, the DSP calculate the 3D attitude, position and velocity. This system is not only smaller but also more dependable and stable than traditional navigation system.