The invention relates to the field of integrated navigation systems, in particular to a method for compensating external measurement information based on a SINS / DVL integrated
navigation system. The method comprises the following steps of obtaining initial position information of a carrier according to the global positioning GPS
system, importing the information into a navigation computer to perform preheating of the
fiber optic gyro strap-down inertial navigation SINS
system, obtaining a carrier attitude angle according to the
fiber optic
gyroscope and the
quartz accelerometer, carrying out initial alignment and establishing an initial strap-down matrix, obtaining the information about angular motion and
linear motion of the carrier according to an inertial component IMU, carrying out navigation solution to obtain a strap-down matrix, establishing a
Kalman filter model, correcting to obtain a strap-down matrix corrected by the
Kalman filter model, and compensating the strap-down matrix corrected by the
Kalman filter model in the step four to the DVL
speed measurement according to the SINS / DVL measurement equation of DVL
speed measurement. The method provided by the invention can suppress errors during the DVL
speed measurement and improve the accuracy of the DVL speed measurement by estimating the attitude of the carrier during the navigation process of the carrier and compensating the attitude to errors of the DVL speed measurement, and is simple and easy to operate.