The SINS/GPS/DVL Integrated Navigation Method Based on Ocean Current Model

摘要

The navigation system of the AUV (Autonomous Underwater Vehicle) usually takes SINS (Strapdown Inertial Navigation System) as the core, and is supplemented by GPS (Global Position System) and DVL (Doppler Velocity Log). While the AUV operates underwater, the GPS signals can't be received, and the DVL beam can't reach the seabed, namely the output speed of the DVL is relative to the water. If the relative speed is taken as the observed quantity to assist SINS, the navigation accuracy will be declined. In order to solve the problem, a novel SINS/GPS/DVL integrated navigation method is proposed. In this method, when AUV sails at sea (GPS is available), the Kalman filter is used to estimate the ocean current based on the ocean current model; and when the AUV sails under water (GPS is unavailable), the current speed is provided based on the estimated ocean current model, and used to aid SINS together with DVL. Simulation results show that the proposed method can improve the performance of integrated navigation system when the output speed of DVL is the speed information relative to the ocean current.