Study on Integrated Navigation System of AUV based on SLAM Algorithm

Aimed at the problem that some autonomous underwater vehicle navigation system in unknown environment will have accumulated errors when GPS signal can not take effect in long time.A scheme of fusing SLAM information into INS/GPS integrated navigation system is proposed using simultaneous location and map building(SLAM)navigation method.SLAM technology can limit accumulated errors in INS.It can dramatically improve the performance of integrated navigation system and can build increment map online.Simulation result shows that the method takes fully advantage of SLAM information and effectively improves navigation system's precision.