Multi-sensor data fusion approach for terrain match navigation of autonomous underwater vehicles

In order to improve the navigation accuracy of an underwater vehicle, a terrain passive integrated navigation system, which consists of strapdown inertial navigation system, underwater terrain map, bathometer, magnetic compass and doppler log is presented. In the integrated system, the position difference of inertial navigation and terrain match are as measurement equation, which adding to the doppler velocity measure equation and magnetic compass course measure equation. And the parameters are estimated using Kalman filter, eliminating the error of navigation system. The simulation results prove that the terrain passive integrated navigation system, as number of navigation device is constant, can reduce the attitude angle error and location error of underwater vehicle effectively, and demand the requirement of high precision and low cost.