潜艇水下微弱升降运动检测方法研究

Detection Method Research of Weak Lifting Motion of Underwater Submarine

检测水下载体的微弱升降运动信号是解决潜艇或水下航行器(UV)水下定深度悬停这一难题的关键。该文提出了一种新颖的检测方法,实现对水下载体微弱升降运动信息的检测。利用卡尔曼滤波技术,将惯性测量单元(IMU)信息和平台罗经、深度计等外部辅助信息进行融合,最终检测出水下载体的微弱升降运动信号。且还设计了基于微机械惯性测量单元(MEMS IMU),数字信号处理(DSP)和现场可编程门阵列(FPGA)的验证样机。验证实验结果表明该文提出的检测方法是有效的。

The detection of the weak lifting movement signal of underwater vehicle is the key point to solve the problems that underwater submarine or underwater vehicle（UV） hovers at a specific depth underwater. Based on the specific requirement,a novel detection method to realize the detection of the weak lifting movement information of underwater vehicle is proposed in this paper. The Kalman filtering technique was used to fuse the information of iner- tial measurement unit （IMU） with auxiliary information provided by platform compass, depthometer, and other ex- ternal instruments, finally the weak lifting movement signal of underwater vehicle was detected. In addition, we set up a hardware platform that integrated a MEMS IMU with a navigation computer based on DSP and FPGA. The ex- perimental result showed that the proposed detection method is effective.