Design and simulation of submarine navigation based on the use of motion constraints and command information The positioning error rate by INS

Due to the uncertainty in modeling the forces acting on the submarine and determining the actual values of the model parameters, the actual behavior of the vessel always deviates from the simulated behavior. To solve this problem, it is necessary to design a measurement system that is able to determine the acceleration, rotational angles, rotational speeds and floating displacement during its movement. The purpose of this paper is to design and build a system for measuring and recording the required information, in order to analyze the dynamic and kinematic behavior of a vessel during underwater navigation and data optimization using motion constraints to intelligent INS. Acceleration, rotational speed and displacement in the direction of the three axes perpendicular to each other are measured over a maximum of 10 seconds.