Purpose

Motivated by the problems that the positioning error of strap-down inertial navigation system (SINS) accumulates over time and few sensors are available for midwater navigation, this paper aims to propose a self-aided SINS scheme for the spiral-diving human-occupied vehicle (HOV) based on the characteristics of maneuvering pattern and SINS error propagation.

Design/methodology/approach

First, the navigation equations of SINS are simultaneously executed twice with the same inertial measurement unit (IMU) data as input to obtain two sets of SINS. Then, to deal with the horizontal velocity provided by one SINS, a delay-correction high-pass filter without phase shift and amplitude attenuation is designed. Finally, the horizontal velocity after processing is used to integrate with other SINS.

Findings

Simulation results indicate that the horizontal positioning error of the proposed scheme is less than 0.1 m when an HOV executes spiral diving to 7,000 meters under the sea and it is inherently able to estimate significant sensors biases.

Originality/value

The proposed scheme can provide a precise navigation solution without error growth for spiral-diving HOV on the condition that only IMU is required as a navigation sensor.

中文翻译：

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自救式捷联惯导系统，用于在水下螺旋潜水的人用车辆

目的

由于捷联惯性导航系统（SINS）的定位误差会随着时间的推移而累积，并且很少有传感器可用于中途航行，因此，本文提出了一种用于螺旋潜水载人汽车的自救SINS方案。 （HOV）基于机动模式和SINS错误传播的特征。

设计/方法/方法

首先，以相同的惯性测量单位（IMU）数据作为输入，同时执行两次SINS导航方程，以获得两组SINS。然后，为了处理一个捷联惯导系统提供的水平速度，设计了一种没有相移和幅度衰减的延迟校正高通滤波器。最后，处理后的水平速度用于与其他SINS集成。

发现

仿真结果表明，当HOV在海底执行7,000米螺旋潜水时，该方案的水平定位误差小于0.1 m，并且固有地能够估计出明显的传感器偏差。

创意/价值

在仅需要IMU作为导航传感器的情况下，所提出的方案可以提供精确的导航解决方案，而不会导致螺旋潜水HOV误差增大。