SINS/GPS/COMPASS-based Integrated Navigation for an Autonomous Underwater Vehicle

摘要

Effective method towards navigation and localization with high accuracy has been one of most unportant research topics for autonomous underwater vehicle (AUV). An integrated solution based on strapdown inertial navrgation system (SINS), GPS and, digital compass is proposed for an open frame AUV. Indirect feedback correction is adopted in this scheme, and a Kalman filter is employed to receive difference between outputs of SINS and GPS/COMPASS for same navigatioa parameters respectwely and produce estimation for these errors. Results of simulation experiments show that proposed integrated sINS/GPS/COMPASS navigation solution can restrain error accumulation of SINS and improve accuracy of AUV navigation.