Research Of Key Technologies About Integrated Navigation System For Autonomous Underwater Vehicle

Aiming to fulfill navigation requirements of Autonomous Underwater Vehicle, an integrated navigation system is designed. In this system, Strap-down Inertial Navigation System (SINS) is used as basic system while Doppler Velocity Log (DVL), Magnetic Compass (MCP) and Depth Meter (DM) are as reference systems. Key technologies about integrated navigation system are studied in this paper, and the main contributions are as follows:1. The working principles and error prorogating mechanisms of SINS, DVL, MCP and DM are introduced in detail, and error equations of sensors composed of integrated system are constructed.2. The principle of Dead Reckoning (DR) is studied and a new calibration method for the installing misalignment between SINS and DVL is designed using DR algorithm. Simulation result indicates the effectiveness of the proposed method.3. The relationship between observability of SINS/DVL and maneuver manners are detailedly analyzed and a compensation method for installing and calibrating errors is proposed based on Kalman filter, using the differences between thevelocities from DVL along instrument coordinate frame and SINS along body frame. Simulation result indicates that installing and calibrating errors can be effectively estimated and navigation accuracy can be improved.4. The principle and structure of federated filter are studied. Then the integrated structure is selected and fusion filter is designed based on the consideration about the performances of real-time and fault tolerance. At the same time, the mathematical models of those sub-systems are established. Simulations are conducted to verify the effectiveness of the proposed fusion method.