An VxWorks-based Integrated Navigation System For AUV Navigation Research

Underwater navigation is necessary to the AUV which designed to voyage a long distance. Many researchers of different countries pay great attentions to the AUV underwater navigation. They have done a great many of theory researches and tests. Many achievements were gotten. The navigation of AUV has its own characters because its application is restricted with environments. This paper is based on "Zhishui-â…¥" AUV made in HEU, the navigation system and navigation researches were also developed on it.The dead reckoning navigation system(DR) is described in the first, which configured with DVL(Doppler velocity log) and fiber optic gyrocompass and depth gauge. The GPS navigation system and the long baseline sonar navigation system(LBL) are then analyzed , and based on them, the integrated navigation system is modeled using confederated Kalman filter. The DR system includes the raw data reception and pretreatment, data filter, arithmetic of DR and so on. The LBL system includes position theorem and analysis of error. At last, the paper describes the integrated navigation system based on GPS/DR/LBL and the several configuration of the Kalman filter.The navigation system was tested in sea on Augest, 2004. Results were gotten and they proved that the system can be equipped to AUV. Some experience has gotten during this sea test.