基于SINS/DVL/GPS的AUV组合导航技术

为了提高自主水下航行器组合导航系统的精度,选择了捷联式惯性导航系统(SINS)和多普勒速度声纳(DVL)导航为主、GPS卫星导航系统为辅的组合导航方法.通过Kalman滤波技术对组合导航的误差状态进行了估计,并采用反馈校正的方法修正SINS的导航误差.仿真结果表明SINS/DVL/GPS的组合导航可以有效地提高水下航行器SINS/DVL组合导航系统的导航精度,满足AUV远距离航行的精度需求.

Study of Integrated Navigation of AUV based on SINS/DVL/GPS

To improve the AUV(Autonomous Underwater Vehicle)navigation accuracy, SINS(Strapdown Inertial Navigation System), DVS(Doppler Velocity Sonar),GPS(Global Position System) are adopted in the AUV integrated navigation system. Errors of integrated navigation system are estimated by kalman filter, and corrects the error of SINS through feedback correction.The results of simulation show that the integrated SINS/DVL/GPS system can raise the precision of SINS/DVL, satisfy the navigation precision of long-distance AUV.