The Integrated Navigation Underwater Used in SAS Motion Compensation

Synthetic aperture sonar imaging is based on the straight track model with constant velocity. The motion estimation needs to be done for ascertaining the ideal track. It is usually be achieved by the integrated navigation with high precision. In this paper, the navigation equipments of SAS comprise SINS and ADCP. For the large attitude error, the nonlinear error models of SINS/ADCP based on quaternion error are presented. The simulation has been done about the SUKF algorithm used in the nonlinear error models and the SKF algorithm in the liner error models. The results indicate that the SUKF algorithm with the nonlinear models is preferable to the SKF algorithm with the linear error method. The navigation accuracy has been improved to some extent.