面向深海无人潜航器的导航系统设计与实现

为满足深海无人潜航器不同运动、工作状态对导航系统精度和低功耗的要求，以及进一步提高导航设备在深海环境中的不确定因素影响下的适应性、可靠性，研究与设计了一种基于DSP+ARM双处理器的混合精度IMU导航定位系统。将低精度、低功耗的MEMS传感器与高精度、高功耗的光纤传感器通过模糊自适应状态切换算法在线切换两者的工作状态，以达到导航定位精度与功耗之间的最优平衡，并提高在执行导航定位任务时的适应性和可靠性。实际跑车实验结果表明，采用高、低精度IMU分时工作模式满足了系统在精度与功耗之间的平衡要求。在保证水下潜航器续航时间的同时，有效提高了导航系统鲁邦性和可靠性。

Design and Implementation of Navigation System for Deep Sea Unmanned Underwater Vehicle

A hybrid precision IMU navigation and positioning system based on DSP+ARM dual processor is designed to meet the adaptability and reliability of the deep-sea unmanned aerial vehicle with different motion and working condition to the precision and low power consumption of the navigation system, and to further improve the adaptability and reliability of the uncertain factors of the navigation equipment in the deep sea environment. The low precision, low power MEMS sensor and high precision and high power fiber sensor are switched online by fuzzy adaptive state switching algorithm to achieve the optimal balance between navigation accuracy and power consumption, and improve the adaptability and reliability in the navigation and positioning task. The experimental results of the actual car show that the high and low precision IMU time-sharing work mode satisfies the balance between the precision and the power consumption, and improves the robustness and reliability of the navigation system, while guaranteeing the endurance of the underwater vehicle.