STRAPDOWN INERTIAL NAVIGATION OF UNDERWATER ROBOT IN HIGH LATITUDES

The paper suggests The paper suggests a mathematical description of the problem solution for strapdown inertial navigation of an underwater robot in the high latitudes. The relevance of the paper is explained by the increasing use of underwater robots during Arctic exploration due to the discovery of oil and gas on the Arctic shelf. Inertial navigation involves determining of orientation and navigation parameters of underwater robot, which requires finding the relative angular velocity of underwater robot, finding vector components of the apparent linear acceleration and vector components of linear velocity. The problem is solved with the help of strapdown inertial navigation system (BINS). The developed model of BINS takes into account the Earth's rotation speed, the geometric shape of the Earth, the latitude and longitude of current position of underwater robot. Algorithmic software of BINS at high latitudes uses the concept of rotated coordinate system. The direction cosine matrix which is necessary for orientation parameters finding was obtained with the help of integrating the Poisson's matrix equations. The simulation of BINS was carried out in the graphic programming environment of Matlab Simulink using the developed mathematical description. When you set the latitude of the underwater robot location more than 70(0) determination of the orientation and navigation parameters was carried out according to the above mentioned algorithms. The original and the calculated direction cosine matrixes were compared. The high precision of orientation and navigation parameters defining was obtained due to compensation of methodical errors.