Research Of Integrated Navigation System Of SINS/DVL

Accuracy and reliability of modern navigation system is a measure of the quality of performance guideline, considered the actual demand as the research background, combined with domestic and international navigation technology and the development direction, in view of the specificity of the underwater working environment, designing and researching the underwater vehicle integrated navigation system. The digital simulation results of using Matlab show that the design of integrated navigation system program is reasonable, position is accuracy. The car test and river test show the navigation system's feasibility and reliability, accuracy wins the pre-requirements.This paper introduces the basic working principle of the strapdown inertial navigation system (SINS), has established the strapdown inertial navigation system's error model based on the working principle, has set up process speed error, position error and attitude angle error equation Derivation. It analysis Strapdown Inertial Navigation System each kind of error to navigation accuracy influence in quantitative.Then, discuss a single beam, dual-beam and four-beam Doppler Log (DVL) measure velocity principle and measure velocity error in detail, established the error model of the DVL which we will use in the paper.On this basis, introduced the basic theory of Kalman filter whichwas a discrete-time linear systems, basic theory of extended Kalman filter and unscented Kalman filter, detruded and the established the filtering method applied to a variety of integrated navigation system's mathematical model. Because of working long hours for filter, integrated navigation system's positioning accuracy is reduced, so proposed to use output correction programs in the indirect method of filtering model; EKF and UKF contrast parameters of the navigation accuracy in the direct method of filtering model. Processing Matlab simulation about these two models when object is running in uniform linear motion and linear motion to accelerate.Finally, in order to verify the navigation system's accuracy and reliability, processing a car and river test. Collecting test data and mapping test curve, through the test to verify the integrated navigation system model of the reasonableness, provide a favorable environment protection for the underwater vehicle to work normally and reliably.