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

Author

Zhang Yonggang ; Ding Yan ; Li Ning

Author_Institution

Coll. of Autom., Harbin Eng. Univ., Harbin, China

fYear

2013

fDate

21-23 June 2013

Firstpage

1107

Lastpage

1110

Abstract

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.

Keywords

autonomous underwater vehicles; inertial navigation; DVL velocity errors; Doppler velocity log; autonomous underwater vehicle; measurement equations; state equations; strapdown inertial navigation system; tightly integrated SINS/DVL navigation method; Coordinate measuring machines; Equations; Mathematical model; Navigation; Silicon compounds; Underwater vehicles; Velocity measurement; Doppler Velocity Log (DVL); Integrated navigation system; Kalman filter; Strapdown inertial navigation system (SINS);

fLanguage

English

Publisher

ieee

Conference_Titel

Computational and Information Sciences (ICCIS), 2013 Fifth International Conference on

Conference_Location

Shiyang

Type

conf

DOI

10.1109/ICCIS.2013.294

Filename

6643211