The Application And Research Of GPS/SINS/DVL Integrated Navigation In Autonomous Underwater Vehicle Navigation System

As the traditional Navigation system can't satisfy the requirements of the navigating position of the Autonomous Underwater Vehicles (AUV), especially In the long time and long range travel. Based on the practical thing and the developments of navigation technique, we design the Integrated Navigation System of the AUV in this paper. Using timing introducing GPS navigation information, we solve the question of the positional error accumulated with the time due to strapdown inertial navigation system(SINS) and Doppler Navigation system. And by means of simulation study, the result indicates that the design method in this paper is proper, which can increase the positioning accuracy of UAV In the long time and long range travel.The main research work is done as follows:Design the strapdown inertial navigation system of AUV. The basic navigation algorithm of SINS is inferenced detailedly. We make the formula derivation of the basic position, speed and attitude of the strapdown inertial navigation, and analysis the error characteristics of SINS systematically. And at the same time we establish its error model equation.Research the composition of GPS, the basic principle of navigation position-setting, and the analysis of data error. Aimed at the different error source, this paper establish the variant basic error model. This paper detailedly introduce the Doppler velometer, electric gyrocompass and strapdown flux-gate azimuth finder, and so on, which compose the Doppler navigation system. Research the operating principe and error source of the subsystem. Deduce the error formula, and establish its error model.Design of the Integrated Navigation system of AUV. Based on the various navigation system error, aimed at the navigation characteristic In the long time and long range travel, by means of the vehicle receiving the GPS navigation information by timing rise, we design the Integrated Navigation System. The simulation result shows that after timing introducing GPS navigation information this navigation system can increase the positioning accuracy evidently, and overcome the question of the positional error accumulated with the of time in SINS/DVL Integrated Navigation.