Research of Autonomous Navigation System for AUV Based on SDVM

Considering that the underwater condition is not accessible to radio signals, this paper proposed a novel autonoums integrated navigation system using the output from an simplified dynamic vehicle model (SDVM) to provide velocity aiding for the strap down inertial navigation system (SINS), and the terrain-aide navigation system (TAN) is engaged to prevent the position divergence. The proposed approach improves underwater navigation capabilities both for systems lacking conventional velocity measurements, and for systems where the need for redundancy is important, such as when AVU travels to the mismatching area and TAN dropouts or failures. Compared experiments are perfermed to prove the effectiveness of this method. The results show that the proposed navigation system is able to keep the sustainability and accuracy at a satisfactory level even during long time periods without TAN measurements.