Research On The Integrated Navigation Method Based On MINS/DVL

INS/DVL integrated navigation system is one of the most important navigation methodin the shipping navigation field. But the expensive price of high-precision inertial navigationsystem greatly limits their widely application. MINS not only has the advantage of lowerprices, but also smaller size, lower power consumption, higher integration make it has morebroad application prospects. Believe that with the continuous improvement of the accuracy ofmicro inertial devices, based on MINS/DVL navigation system will become an importantresearch direction. This paper carried the researching of the MINS/DVL navigation systembased on existing experimental conditions, the main tasks as follows:The error model of inertial navigation system is the foundation of integrated navigationsystem. Based on the derivation of phi and psi angle error model. Considering thecharacteristic of large random noise of micro-inertia device error.The modified and nonlinearerror models is derivated based on the character of the MINS. For the simulation works next,the character of the MIMU and random process is analysised.In order to minimize the impact of the external error factors on the integrated navigationsystem and Improve the positioning accuracy of integrated navigation system. This paperfocuses on analysis the error factors of DVL assisted inertial navigation system, Obtained theconclusion that two main external error factors affect the accuracy of the integrated navigationsystem which is the velocity error and the integration error of DVL/IMU. For the velocityerror, a detailed analysis of error factors affect the measurement precision of Doppler totalprocess instrument, given the taximeter instrument operating mode selection and accuratemodeling to improve the measurement precision. For the DVL/IMU integration error, thispaper first gives the deviation of simulation analysis, then proposed a method of inhibitingerror grows that motorize in a different heading. Next for the shortcomings of theconventional least squares method based on the SVD least squares misalignment angle fittingmethod, simulation results show that the method can estimate the deviation angle ofDVL/IMU, with the application of good engineering value.Established the state and observation equation of MINS/DVL integrated navigationsystem. Analysised three navigation parameter error correction methods of attitude, speed,and position.Base on the error characteristics of MINS/DVL integrated navigation system atheoretical analysis of three kinds of error correction scheme for integrated navigation systemwas carried out. Obtained the hybrid correction method is superior to the simple correction of the output and feedback correction method. Based on the existing experimental conditions,through adding the noise of Gyro drift on the Laboratory experiment data to simulation theMINS and verify the Theoretical analysis.