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Volume 27 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2019  >  27(3): 305-312
WANG Qiu-ying, YIN Juan. Collaborative Calibration of MEMS Gyroscope under UUV Cooperative Navigation[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 305-312. doi: 10.11993/j.issn.2096-3920.2019.03.011
Citation: WANG Qiu-ying, YIN Juan. Collaborative Calibration of MEMS Gyroscope under UUV Cooperative Navigation[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 305-312. doi: 10.11993/j.issn.2096-3920.2019.03.011
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Collaborative Calibration of MEMS Gyroscope under UUV Cooperative Navigation

doi: 10.11993/j.issn.2096-3920.2019.03.011

  • College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China

  • Received Date: 2018-09-29
  • Rev Recd Date: 2018-11-28
  • Publish Date: 2019-06-30
    Abstract
  • When the short-term failure of the underwater acoustic communication of an unmanned undersea vehicle (UUV) disables cooperative navigation, the three-axis geomagnetic sensor and the two-axis micro-electro mechanical system(MEMS) gyroscope’s combined attitude sensor equipped to slave UUV gain large gyro drift of the MEMS gyroscope, which leads to poor accuracy of slave UUV dead reckoning. Therefore, a collaborative calibration method of MEMS gyroscope under UUV cooperative navigation is proposed in this study. Through the observability analysis, the path design principle of slave UUV collaborative calibration is proposed. The gyro drift of the two-axis MEMS gyroscope is solved online and compensated from the slave UUV navigation system to improve slave UUV dead reckoning accuracy under the collaborative calibration path. Simulation results demonstrate the effectiveness of collaborative calibration of MEMS gyroscope and the accuracy of collaborative calibration path design principle under UUV cooperative navigation.

     

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