Fiber strapdown inertial navigation system(FSINS)is presently used in several applications related to marine navigation.However,the absolute position from FSINS contains the error that increases with time,which prevents its long-term use for the ship cruise.In order to improve the performance of FSINS based on our present inertial sensors,the spin technology was proposed in the system to mitigate the navigation errors and a prototype of the proposed system was developed in Navigation Lab.The prototype contains the IMU,temperature controller,rotating configuration,navigation and I/O electronics group,control and display,power supply subsystem and other modules.In the proposed spin technology,the IMU is rotated back and forth in azimuth through four orthogonal positions relative to the ship’s longitudinal axis.Experimental testing was conducted for the prototype in the laboratory and the results showed that the RFSINS’s navigation performance is improved 10 times.
起源于移动机器人定位的同步构图定位(simultaneous localization and mapping,SLAM)算法可以克服基于先验图的水下导航算法的不足,实现水下载体的自主导航。本文给出了基于SLAM算法的水下导航算法的系统构建和执行过程,建立了状态方程和观测方程,讨论了新特征加入的问题,并利用模拟数据进行了仿真。仿真结果表明,无论是采用航渡还是区域探索航行方式,该导航算法的定位精度均高于单纯推位方法,具有广阔的应用前景。
