Abstract: The purpose of this paper is to design a DVL-RPM based VKF (Velocity Kalman Filter) design for a performanceimprovement underwater integrated navigation system. The proposed approach relies on a VKF, augmented by a altitude fromEcho-sounder based switching architecture to yield robust pe rformance, even when DVL (Doppler Velocity Log) exceeds themeasurement range and the measured value is unable to be valid. The proposed approach relies on two parts: 1) Indirectfeedback navigation Kalman filter design, 2) VKF design. To evaluate proposed method, we compare the results of the VKFaided navigation system with simulation result from a PINS (Pure Inertial Navigation System) and conventional INS-DVLmethod. Simulations illustrate the effectiveness of the underwat er navigation system assisted by the additional DVL-RPM basedVKF in underwater environment.Keywords: IMU (Inertial Measurement Unit), Kalman filter, VKF (Velocity Kalman filter), INS (Inertial Navigation System) Copyright© ICROS 2013
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