The invention discloses a self-adaptive propulsion system and method for an underwater vehicle, and the system comprises a data collection module, a drift calibration module, a filtering module, a calibration module, a temperature compensation module, and a data fusion module.The method comprises the steps: S1, obtaining acceleration and angular velocity data from the data collection module; s2, estimating and eliminating the drift error of the gyroscope in a drift calibration module; s3, carrying out filtering processing on the acceleration and angular velocity data in a filtering module; s4, carrying out accurate sensor calibration in the calibration module, wherein the accurate sensor calibration comprises zero offset calibration and sensitivity calibration; s5, correcting acceleration and angular velocity data in a temperature compensation module; and S6, fusing the processed data with the data of other sensors in a data fusion module, providing a more accurate attitude estimation result, introducing a drift calibration method and an optimized filtering algorithm to reduce noise interference and carry out sensor calibration and temperature compensation, and meanwhile, assisting in making up the limitation of the I MU with data fusion.
本发明公开了一种水下航行器自适应推进系统及方法,包括:数据采集模块、漂移校准模块、滤波模块、校准模块、温度补偿模块、数据融合模块,该方法,包括:S1.数据采集模块中获取加速度和角速度数据;S2.在漂移校准模块中估计和消除陀螺仪的漂移误差;S3.在滤波模块中对加速度和角速度数据进行滤波处理;S4.在校准模块中进行精确的传感器校准,包括零偏校准和灵敏度校准;S5.在温度补偿模块中对加速度和角速度数据进行校正;S6.在数据融合模块中将经过处理的数据与其他传感器的数据进行融合,提供更准确的姿态估计结果,引入漂移校准方法、优化滤波算法以减少噪声干扰、进行传感器校准和温度补偿,同时,与数据融合帮助弥补I MU的局限性。
Self-adaptive propulsion system and method for underwater vehicle
一种水下航行器自适应推进系统及方法
25.06.2024
Patent
Elektronische Ressource
Chinesisch
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