Research of SINS/DVL/OD integrated navigation system based on observability analysis

In order to amplify the effective field of vehicle navigation, and overcome the obstacles such as poor road condition and bad weather, the SINS (Strap-down Inertial Navigation System) /DVL (Doppler Velocity Log) /OD (Odometer) integrated navigation technology is proposed. PWCS theory and SVD (singular value decomposition) are used to analyze observability of this integrated navigation system. In the process of S maneuver simulation, we contrast the calculating error between the integrated navigation and singular SINS through the Kalman filtering algorithm. The filtering result of integrated navigation is more similar to actual result than a pure SINS system. Finally, we compare the result of Kalman filter to that of observability analysis, it is concluded the method that the observable degree of the system states can be judged only by the SVD of the observability matrix is theoretically deficient.