An improved federated filtering method for integrated navigation system of Autonomous Underwater Vehicle

Duan, Shimei; Kang, Fengju; Fu, Yanfang; Wang, Yankai

doi:10.1109/asc-icsc.2008.4675460

Cited by 4 publications

(1 citation statement)

References 7 publications

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“…However, errors of inertial navigation system accumulate with time. It can't provide accurate navigation information for a long time [2][3]. Doppler Velocity Log (DVL) can provide high precision velocity information and the error doesn't accumulate with time, but it can't provide other navigation information such as position and attitude.…”

Section: Introductionmentioning

confidence: 99%

A Tightly Integrated SINS/DVL Navigation Method for Autonomous Underwater Vehicle

Zhang

Ding

2013

2013 International Conference on Computational and Information Sciences

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A tightly integrated SINS/DVL navigation method which is suitable for autonomous underwater vehicle is proposed in this paper. By carefully designing state equations and measurement equations of the integrated navigation system, not only the output of Doppler Velocity Log (DVL) is used to improve the precision of strapdown inertial navigation system (SINS), but also the attitude of carrier estimated by integrated navigation system is used to compensate DVL velocity errors due to swing of the carrier. Simulation results show that as compared with traditional SINS/DVL integrated navigation method, the proposed method can effectively improve the precision of integrated navigation system.

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Section: Introductionmentioning

confidence: 99%