Autonomous Navigation Technology of Underwater High-speed Vehicle Considering Ocean Current Estimation
Aiming at the application requirements of fast start-up,autonomous positioning and high-precision attack for underwater high-speed vehicles,an autonomous navigation technology of high speed underwater vehicles based on short-time high-precision velocity output of strapdown inertial navigation is proposed,which considers the propeller velocity error and ocean current on-line estimation,and solves the problems of concealment and safety in high precision autonomous navi-gation of underwater high speed vehicle.An on-board simulation test platform is built,and simulation analysis and experi-mental verification are carried out.The results show that the online estimation error of propeller scale factor is better than 1×10-3,the estimation error of ocean current velocity is better than 0.02 m/s,and the positioning accuracy of autono-mous navigation is improved by 58%compared with the traditional speed integrated navigation,which effectively guarantees the high-precision autonomous navigation performance of the underwater high-speed vehicles.
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