A Tightly Integrated SINS/DVL Navigation Method for Autonomous Underwater Vehicle

A tightly integrated SINS/DVL navigation method which is suitable for autonomous underwater vehicle is proposed in this paper. By carefully designing state equations and measurement equations of the integrated navigation system, not only the output of Doppler Velocity Log (DVL) is used to improve the precision of strapdown inertial navigation system (SINS), but also the attitude of carrier estimated by integrated navigation system is used to compensate DVL velocity errors due to swing of the carrier. Simulation results show that as compared with traditional SINS/DVL integrated navigation method, the proposed method can effectively improve the precision of integrated navigation system.

[1]  Dai Hong-de.  Error Analysis and Performance Improvement about the SINS/DVL Integrated Navigation System , 2012 .

[2]  Wu Meiping,et al.  Online estimation of DVL misalignment angle in SINS/DVL integrated navigation system , 2011, IEEE 2011 10th International Conference on Electronic Measurement & Instruments.

[3]  Ding Yong-zhong.  Research on Large Voyage AVU SINS/DVL Combined Navigation Orientation Precision , 2010 .

[4]  Fengju Kang,et al.  An improved federated filtering method for integrated navigation system of Autonomous Underwater Vehicle , 2008, 2008 Asia Simulation Conference - 7th International Conference on System Simulation and Scientific Computing.

[5]  Sea-Moon Kim,et al.  Improvement on an inertial-Doppler navigation system of underwater vehicles using a complementary range sonar , 2004, Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869).

[6]  Honghai Liu,et al.  Navigation Technologies for Autonomous Underwater Vehicles , 2008, IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews).