High Procision Integrated Navigation Technology For AUV

The paper is based on a certain project. The study mainly deals with the key techniques of Navigation System in AUV. Main work is as follows:First, Multi-sensor Data Fusion technology is introduced, and then the working principle and the design method of the Kalman fitler is introduced briefly. The main factor which effects the accuracy of the Kalman filter is analyzed and the method of how to design the covariance noise matrix is introduced.In order that the SINS/GPS integrated navigation system could acquire relatively high positioning precision when the GPS information is unavailable, this paper mainly introduces the application of prediction technology in the SINS/GPS integrated navigation system, and analyzes the Kalman Filter's evaluation effect on the system state error. In this paper, different motion states such as the accelerated rectilinear motion and curvilinear motion are simulated and the relativity between the prediction error basing on the Kalman Filter and the motion state is presented. The simulation results indicate that the main factor that affects the prediction precision is the heading variation. Further more, an improved Kalman Filter is introduced in case that the vehicle is in motion. The conclusion obtained is referenced to apply the prediction result to the SINS/GPS integrated system and the field test result indicates that the method proposed is an effective approach to SINS/GPS integrated system when GPS information is not available.When AUV is working independently, it takes the SINS/DVL mode to navigate. The paper mainly introduces the theories of the SINS/DVL integrated navigation system, and compares its precision with the compass state of SINS/DVL integrated navigation system. When the heading is changing, the dead reckoning algorithm using the heading information of the SINS and DVL is adopted to substitute the SINS/DVL integrated system. The simulation results show that the method can improve the accuracy of integrated navigation system when AUV is in motion, and is generally superior to the compass state of SINS/DVL integrated navigation system.In the end, the AUV integrated navigation system is tested by the sea experiment which provides convincing assurance to the real voyage of AUV.