Position Error Reduction Brought About by Rotational Motion

摘要

An autonomous underwater vehicle(AUV)must have the capability of always determining its own current position in order to cruise autonomously along the advance planning course line.However,this is very difficult for an AUV that is submerged,because radio waves,such as global positioning system signals,cannot be carried far under the sea.To solve this problem,the AUV can be equipped with an iner-tial navigation system(INS).The INS is a type of navigation device for mobile objects,and it makes positioning without communication with the external environment possible because it is composed of just internal sensors:gyrocompasses and accelerometers.Thus,if it is equipped with an INS,an AUV can use this position data to cruise autonomously.However,the position data includes error caused by drift/bias errors from the internal sensors,and the position error increases with time,so the INS is generally not used by itself;it is combined with other navigation devices as a hybrid system.Nevertheless,the AUV's position accuracy depends strongly on the INS's performance.