Based on the ckf sins / Compass / dvl combination alignment method

The present invention discloses a method based on the CKF SINS / Compass / DVL combination alignment method. First, the equation of state SINS / Compass / DVL integrated navigation system is nonlinear modeling, using the split multi-sensor measurement information to the measurement information similar to a single method of establishing measurement equation, measurement equation coming into two groups : a group SINS / Beidou filter measurement equation, another group SINS / DVL filter measurement equation, and then subjected to the respective filtering and timing are determined, the data fusion center fusion. The present invention can be enhanced SINS / Compass / DVL integrated navigation system utilization information when the multi-sensor and Beidou DVL asynchronous, a substantial increase in the accuracy of estimation of system state variables, the combined system to improve the alignment accuracy.