The Research Of SINS/DVL Integrated Navigation Technology

As one of the important tools for mankind to develop marine resources,underwater vehicle has many advantages such as small volume and easy to hide when compared with most surface ships.Just because of these advantages,recently,many countries are paying more and more attention to the development of underwater vehicles and have been promoted more rapidly in both military and civil applications.However,underwater vehicles can not receive GPS signals while underwater,researchers are using integrated navigation technology to study the way of navigation and positioning.In this paper,a combined navigation system consisting of Strapdown Inertial Navigation System(SINS)and Doppler Velocity Log(DVL)is used to simulate the combined navigation system under the background of using the Autonomous Underwater Vehicle(AUV).The simulation results verify that the designed navigation above is reasonable,and its positioning accuracy is relatively high.In this paper,the working principle of strapdown inertial navigation system which is short for SINS is introduced firstly,and a detailed theoretical formula deduction is given.The basic equations of inertial navigation system are given and error mathematical models including velocity error,position error and attitude error are established.The principle and usage of quaternion method for attitude transformation are introduced.Then the working principle of single-beam,dual-beam and four-beam configuration of Doppler Velocity Log as the assistant navigation system in integrated navigation is introduced.A variety of error sources of qualitative analysis,select the most influential error sources to establish the mathematical model of its error.Then several methods of Kalman filtering,including standard Kalman filter,extended Kalman filter and unscented Kalman filter,are introduced.The advantages and disadvantages of these three methods in integrated navigation system are analyzed.Then the filter model of integrated navigation system is established,and the state equation and measurement equation of integrated navigation system are given.Then use the two methods of extended Kalman filter and unscented Kalman filter respectively,the numerical simulation is carried out by using MATLAB,and the difference of filtering effects between different filtering methods is compared.After that,taking the advantage of the idea of adaptive filter and aiming at the SINS/DVL integrated navigation system,an adaptive filter combined with unscented Kalman filter is applied to the system,which algorithm is called adaptive unscented Kalman filter,and the digital simulation verification of it is carried out by using MATLAB.The results show that adaptive unscented Kalman filter is more ideal than the unscented Kalman filter,and can be applied to the SINS / DVL integrated navigation system to complete the navigation system filtering.Finally,a lake test was conducted to verify the practicabiliy of the SINS/DVL integrated navigation system.The data collected from the experiment was processed and plotted as a curve.After comparing with the GPS signals,the SINS/DVL integrated navigation system model was verified to be reasonable and the system had better performance,and the accurary of the system is high.