Study Of The Integrated Navigation Arithmetic And The Application In The SINS/GPS/DVL System

The study mainly deals with the combined arithmetic of Integrated Navigation System which takes the Strapdown Inertial Navigation System(SINS)/Global Position System(GPS)/DoppIer Velocity Log(DVL) integrated navigation system as example. Main work is as follows:Firstly, the paper researches the mathematic models of SINS, GPS and DVL. And it investigates the observability and degree of observability analysis in the integrated navigation system with several observability analysis methods. And then the mathematic model of the integrated navigation system is built, which is the foundation of the multi-sensors information fusion arithmetic.Secondly, it introduces the traditional centralized Kalman filter, the Federal Filter and the adaptive Kalman filter which are applied in the SINS/GPS/DVL integrated navigation system. According to the simulation and comparison, we can get the characteristics and improve the precision and the credibility of the integrated navigation system.Thirdly, the robust control theory and robust filter is expatiated. And the robust filter of the SINS/GPS/DVL integrated navigation system is designed. The solution of the filter are suboptimum recursion H∞ filter, Raccati equation and the LMI solution. According to the simulation and comparison with the Kalman filter, the robustness of the robust filter is validated.In the end, for the precision and the credibility of the integrated navigation system, the techniques of fault detection and isolation are researched, which include the consistent detection, the rationality detection and the system fault check scheme.