METHOD FOR APPLICATION OF IMPROVED UNSCENTED KALMAN FILTER ALGORITHM IN UNDERWATER INTEGRATED NAVIGATION

摘要

A method for application of an improved unscented Kalman filter algorithm in underwater integrated navigation, the method comprising: defining a coordinate system to be used; establishing a state equation of an SINS/DVL subsystem in an underwater submarine stage; establishing a measurement equation of the SINS/DVL subsystem in the underwater submarine stage; establishing the state equation of the SINS/GPS subsystem in a water surface position correction stage; establishing a measurement equation of the SINS/GPS subsystem in the water surface position correction stage; and establishing a nonlinear filter equation in the underwater submarine stage. After a period of underwater submarine submersion, an AUV emerges from the water surface, and a non-linear filter equation is established in a water surface position correction stage, an improved unscented Kalman filter solution is conducted, thereby completing a time update, measurement update and filter update, and correcting timing position information. The method can improve the filtering solution efficiency and navigation accuracy of the underwater integrated navigation system, thereby reducing the calculation complexity of a filtering algorithm, and guaranteeing real-time performance and stability.