Research on Attitude Measuring Method of Bit in Underwater MudPenetrator

Abstract

Abstract: This article described a new attitude measuring method of bit on the basis of the real operating condition of underwater mudpenetrator. The method which is based on a strapdown inertial system chooses the low frequency value of acceleration and angular rate as the observation and adopts extended Kalman filter to measure the attitude of bit. The results show that the new method is feasible and can improve the navigation accuracy of strapdown inertial system without additional sensor, the drift error decreases from 20°/h to 3°/h.

Key words: underwater mudpenetrator, attitude measuring of bit, extended Kalman filter, strapdown inertial system

CLC Number:

P 756.4

YAN Hui, GE Tong, YANG Ke, WANG Xu-Yang. Research on Attitude Measuring Method of Bit in Underwater MudPenetrator[J]. Journal of Shanghai Jiaotong University, 2012, 46(03): 446-450.

[1]	ZHONG Yiming1, YU Caoyang1, 2, XIANG Xianbo2, 3, LIAN Lian1, 4. Motion Prediction of Marine Vehicles Based on Cascaded Filter and Error-Triggered Support Vector Regression [J]. Ocean Engineering Equipment and Technology, 2025, 12(1): 133-140.
[2]	XIA Yang¹ (夏杨), REN Guanghui² (任光辉), WAN Yuan¹ (万缘), MAO Xuchu^1∗(茅旭初). Multi-GNSS Fusion Real-Time Kinematic Algorithm Based on Extended Kalman Filter Correction Model for Medium-Long Baselines [J]. J Shanghai Jiaotong Univ Sci, 2024, 29(6): 1191-1201.
[3]	DU Ning, WU Shufan, CHEN Zhansheng, CHEN Wenhui, WANG Shiyao, XU Jiaguo, QIN Dongdong. Attitude Planning Method of Satellite Staring Imaging to Aerial Dynamic Target [J]. Journal of Shanghai Jiao Tong University, 2024, 58(4): 411-418.
[4]	WU Jiang, ZHANG Yan, LIU Zelong, CHENG Gang, LEI Dong, JIAO Chaoyong. State of Charge Estimation of Lithium-Ion Battery Considering Operating Conditions and Aging Degree [J]. Journal of Shanghai Jiao Tong University, 2024, 58(12): 1935-1945.
[5]	LI Dingjia1,2,3,4(黎定佳)，WANG Chongang1,2,3(王重阳)，GUO Wei5(郭伟)，WANG Zhidong6(王志东)，ZHANG Zhongtao5(张忠涛)，LIU Hao1,2,3*(刘浩). Shape Sensing for Single-Port Continuum Surgical Robot Using Few Multicore Fiber Bragg Grating Sensors [J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 312-322.
[6]	YANG Tao (杨涛), ZHAO Jiankang∗ (赵健康). Solution to Long-Range Continuous and Precise Positioning in Deep Ocean for Autonomous Underwater Vehicles Using Acoustic Range Estimation and Inertial Sensor Measurements [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(3): 281-297.
[7]	HU Bing,YANG Ming,GUO Lindong,WANG Chunxiang,WANG Bing. Global Localization for Intelligent Vehicles Using Ground SURF [J]. Journal of Shanghai Jiaotong University, 2019, 53(2): 203-208.
[8]	LIU Xiaodong,ZHONG Maiying,LIU Hai. EKF-Based Fault Detection of Unmanned Aerial Vehicle Flight Control System [J]. Journal of Shanghai Jiaotong University, 2015, 49(06): 884-888.
[9]	ZHAO Wenjun,MAO Xuchu. A Novel Model for High Dynamic GPS Signal Tracking [J]. Journal of Shanghai Jiaotong University, 2014, 48(03): 323-327.
[10]	LI Wei,LIU Meihong,DUAN Dengping. Relative Navigation for Spacecraft Formation Based on Simplified Divided Difference Filter [J]. Journal of Shanghai Jiaotong University, 2014, 48(02): 229-233.
[11]	HUANG Huan, YANG Ming, WU Shun-Jie. Indirectly Measuring Aortic Flow in a Mock Circulatory System [J]. Journal of Shanghai Jiaotong University, 2012, 46(07): 1138-1141.
[12]	HAO Yanling1,MENG Fanbin1, 2,WANG Suxin2,SUN Feng1. A New GMPHD Filter Algorithm for Multiple Maneuvering Targets Tracking [J]. Journal of Shanghai Jiaotong University, 2010, 44(07): 873-0877.

Research on Attitude Measuring Method of Bit in Underwater MudPenetrator

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 12

Recommended Articles

Metrics

Comments