An Applied navigation arithmetic used in 'SY-1' AUV

摘要

Since little information can be used in underwater navigation, the paper presents a navigation method based on dead reckoning of automatics underwater vehicle (AUV). The paper introduces the constitutes of system and describes the arithmetic in detail. After applying dead reckoning using the sensors' outputs, Singer dynamical model is made and an adaptive Kalman filter algorithm is used to improve the system's precision and reliability. GPS data are used to revise the result. Song Hua Lake's test has proved the system's practicability.