摘要
定位定向技术是深海作业系统的主要关键技术之一。本文基于激光陀螺提出了一种用于深海作业的高精度定位定向系统研究方案,建立了一套相应的系统分析方法,对该方案的姿态、速度、位置误差进行了详细的仿真分析。进行了72h静态定位定向实验,结果表明系统的俯仰角和横滚角误差小于0.006°,航向角误差小于0.035°,速度误差小于0.9m·s-1,定位误差小于29.9km。实验结果与仿真分析结果基本一致,验证了该研究方案的可行性。和采用动力调谐陀螺的定位定向系统相比,本系统具有精度高和可靠性好等优点。
Position and azimuth determining technology is one of the main technologies for deep ocean work. The authors propose a research method based on ring laser gyros, which can determine position and azimuth of deep- sea submersibles. According to the method, a set of analysis programs are designed, with which the attitude, velocity and position error are simulated and analyzed in detail. A 72-hour position and azimuth determining exper- iment has been carried out, which shows that the error of pitch and roll angle is below 0.006~, the azimuth error is below 0.035~, the velocity error is below 0.9 m＇s-1, and the position error is below 29.9 km. The experiment results agree with the analysis results, which indicate that the research method is valid. Compared with position and azimuth determining system based on dynamically tuned gyroscopes, this new system has higher precision and better reliability.
出处
《热带海洋学报》
CAS
CSCD
北大核心
2009年第4期22-27,共6页
Journal of Tropical Oceanography
基金
国家"863"项目(2006AA09Z208)
关键词
定位定向
深海作业
激光陀螺
加速度计
position and azimuth determining
deep ocean work
ring laser gyro
accelerometer
