Research on calibration technology of underwater inertial navigation system based on acoustics
With the development of ocean development,the navigation technology of autonomous underwater vehicle(AUV)is also improving.With the exploration of technology,it is found that the navigation mode combined with acoustic navigation of inertial navigation is the main navigation direction in the future.Therefore,a method of underwater inertial navigation system(INS)calibration based on acoustics is proposed.Its positioning accuracy is determined by inertial navigation accuracy,installation deviation and acoustic positioning accuracy.The results show that the positioning accuracy of less than 100 meters can be obtained by this method under the condition of using high-precision optical fiber inertial navigation and accurately measuring the installation deviation,which can provide a good navigation system correction for the underwater platform.
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