Inertial/Satellite/Doppler Integrated Navigation Technology Research

In this thesis, author research on “INS/GNSS/DVL IntegratedNavigation Technique”. Author researched on fiber strap-down inertialnavigation system (FSINS), and evaluates the performance of the errorcharacteristics of FSINS through simulation and statistical analysis. Insimulation, the error characteristics are identified, which establishes aninfrastructure for the research on the integrated navigation system.One of the auxiliary navigation system is the global navigationsatellite system(GNSS) in the integrated navigation system.Authorpresent the theory, components and methods of GNSS. By analyzingthe data of GNSS receiver, the positioning characteristics andperformance are concluded.The other auxiliary navigation system Doppler velocity log(DVL) isintroduced. Doppler identification principle of “single beam” and “multibeam” is presented. Based on the experiment, the author put theemphases on the installation disalignment and the adjusting method ofvelocity correction coefficient.In accordance with the applied direction of the study, the adaptivefederated Kalman filter is put forward. Feedback adjustment combinedwith output adjustment as the adjusting pattern is choosed to correctthe station, the velocity and the lever direction disalignment angle. Andquaternion compensation algorithm for attitude correction is proposed.To strength the fault-tolerance of the integrated navigation system, theinversion based on LD factorization is adopted.According to the scheme, author completed software simulation,and experiments have been performed, included the integrated styles ofGNSS/INS, DVL/INS, GNSS/DVL/INS and GNSS/DVL/INS’s fault-tolerancestate. By analyzing the simulation results，the validity, feasibility andadaptability to the environment of this scheme of integrated navigation system is firstly proved.To verify the scheme’s applicability in the actual situation andstability in the real time navigation, the static navigation experiment,dynamic experiment and the hardware-in-the-loop simulation of thesurface water experiment data. By analyzing the result of theexperiment, the stability, adaptability and fault-tolerance performanceare proved..