An anomaly recognition algorithm for DVL

An anomaly recognition algorithm for the Doppler velocity log (DVL) is proposed in this paper. The integration of strap-down inertial navigation system (SINS)/DVL is used in this approach. This approach use two SINS/DVL integration systems with different measurement noise covariance matrices and make each of them estimate the state vector simultaneously. As the two system respond difference to the growth of the DVL measurement noises, the anomaly of the DVL velocity measurement can be recognition though the difference between their heading outcomes. Simulation results show that this approach is available.