Information fusion technology and its application in INS/GPS/DVL integrated navigation

The warship navigation system applied in our project need to be of high precision. According to this requirement, the paper presented an INS/GPS/DVL federated Kalman filter scheme based on information fusion theory of multi-sensors integrated navigation system. Based on the error equations of INS, GPS, and DVL, the structure and algorithm of the federated Kalman filter were given. Several computer simulations were carried out to study the filter's performance. Simulation results show that the INS/GPS/DVL federated Kalman filter can improve the navigation precision. Compared with INS alone, this integrated navigation system gives more accurate position, velocity, and attitude information.