| 用于水下潜器的惯性导航系统安装和初始对准技术 |
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| 引用本文： | 邓周荣,吕恩谋,蒲定,张宏伟,徐志毅.用于水下潜器的惯性导航系统安装和初始对准技术[J].海洋开发与管理,2018,35(12):74-78. |
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| 作者姓名： | 邓周荣 吕恩谋 蒲定 张宏伟 徐志毅 |
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| 作者单位： | 中海石油深海开发有限公司,天津大学,中海石油深海开发有限公司,天津大学,中海石油深海开发有限公司 |
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| 摘 要： | 水下潜器通常采用捷联惯性导航和多普勒计程仪组合导航系统。为提高惯性导航系统的导航精度,保障水下潜器顺利作业,文章以高性能惯导系统PHINS为例,介绍其安装和初始对准技术。PHINS在安装时须计算其与船体的偏差以及与船体和外部传感器的力臂,尤其与多普勒计程仪组合时应执行传感器自动对准程序;PHINS的初始对准是其精确导航的前提,可在海上或静态时进行;惯导系统的安装误差和初始对准精度对于其导航精度具有决定性的影响。
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| 关 键 词： | 惯性导航 水下潜器 导航精度 自动对准 海洋工程装备 |
Installation and Initial Alignment Technology of Inertial Navigation System for Underwater Vehicles |
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| DENG Zhourong,LYU Enmou,PU Ding,ZHANG Hongwei and XU Zhiyi.Installation and Initial Alignment Technology of Inertial Navigation System for Underwater Vehicles[J].Ocean Development and Management,2018,35(12):74-78. |
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| Authors: | DENG Zhourong LYU Enmou PU Ding ZHANG Hongwei and XU Zhiyi |
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| Institution: | CNOOC Deepwater Development Limited,Tianjin University,CNOOC Deepwater Development Limited,Tianjin University and CNOOC Deepwater Development Limited |
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| Abstract: | Underwater vehicles generally adopt the integrated navigation system combining Strapdown inertial navigation and Doppler Log.To improve accuracy of the inertial navigation system and guarantee smooth operation of underwater vehicles,this paper introduced the installation and initial alignment technology of the high-performance inertial navigation system PHINS as an illustration.During installing PHINS,its deviation from body of the vehicle and its arm of force with the vehicle body and external sensor should be calculated,and in particular,the sensor automatic alignment procedure should be performed while integrating it with the Doppler Log.The initial alignment of PHINS was the precondition for its accurate navigation,which performed when the vehicle was on the sea surface or in static state.The installation and initial alignment precision of PHINS had a decisive influence on its navigation accuracy. |
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