[1]WANG Kuimin,GUO Zhanjun.Application of model switching to suppress oscillation error in unmanned submarine navigation[J].CAAI Transactions on Intelligent Systems,2017,12(2):250-257.[doi:10.11992/tis.201612038]
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Application of model switching to suppress oscillation error in unmanned submarine navigation

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 12 Number of periods: 2017 2 Page number: 250-257 Column: 学术论文—智能系统 Public date: 2017-05-05
Title:
Application of model switching to suppress oscillation error in unmanned submarine navigation
Author(s):
WANG Kuimin;  GUO Zhanjun
Navy Military Representative Office in Jinzhou, Jinzhou 121000, China
Keywords:
unmanned vehicles; submarine; oscillation damping; model switching regulators; navigation; Doppler sonar; GPS; SINS
CLC:
TP18;U666
DOI:
10.11992/tis.201612038
Abstract:
Precise navigation is the basis for task completion in unmanned submarines. Oscillation error exists in unmanned submarines with long voyage missions, in particular, with the missions serving military purposes, which leads to navigation error. For obtaining accurate navigation results, the oscillation error must be suppressed. However, owing to the restrictions in the traditional single algorithm, the accuracy requirements cannot be met in the entire process of navigation. Therefore, in this study, a model switching method to suppress the oscillation error in unmanned submarine navigations is proposed. Different oscillation-error-suppression methods were used for different application scopes. Differential Doppler external velocity damping assisting, phase shift inhibition assisting, and GPS assisting were presented in the model switching method that overcame the limitations of the traditional methods. This method can suppress the oscillation error during sailing and thus meet the accuracy requirement essential during unmanned submarine navigation. Simulation results show the effectiveness of this method. The model switching method is found to effectively improve navigation accuracy.
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