Ship's inertial navigation system (SINS)/Doppler velocity log (DVL)/global positioning system (GPS)-based autonomous underwater vehicle (AUV) combined navigation system
An integrated navigation system and GPS receiver technology, applied in the field of AUV integrated navigation system, can solve the problems of inaccurate precision filtering model, inaccurate SINS system navigation and positioning error, Kalman filtering accuracy decline, etc., so as to overcome the inaccurate filtering model. Effect
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[0035] The present invention will be further described below in conjunction with the accompanying drawings.
[0036] Design principle description
[0037] AUV is an important tool for exploring, developing and utilizing marine environmental resources, and also plays an important role in marine military applications. Because of its remoteness, concealment and complex underwater environment, integrated navigation is often used to navigate and position AUV. The SINS system has autonomous navigation capability and is not affected by the environment, carrier maneuvering and radio interference. It can continuously provide navigation and positioning information such as carrier position, speed and attitude. Its data update frequency is fast, and it has a high relative precision. However, as the working time of the system prolongs, the navigation error of the SINS system will accumulate and increase. At this time, it is necessary to use the observation information of external sensors...
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