Research On SINS/USBL/DVL Integrated Navigation Algorithm Of Underwater Vehicles

At this stage,with the development and the exploration of the ocean,the common single navigation system can not meet the harsh requirements of navigating and navigating underwater vehicles under the harsh underwater environment,integrated navigation and positioning based on multi-sensor information fusion technology is the future direction of development.Fiber Strap-down Inertial Navigation System(SINS)can give effective navigation parameters such as position,velocity and attitude,which are highly autonomous and have good concealment,but errors accumulate in the long flight.In the underwater environment,electromagnetic waves and light waves will have energy attenuation when they propagate,resulting in a significant reduction in navigation and positioning accuracy,therefore,Global Positioning System(GPS)and other radio navigation positioning methods can not be used in water;sound waves in the underwater attenuation is small,the propagation distance farther,based on underwater acoustic Ultra-short Baseline(USBL)positioning system and Doppler Velocity Log(DVL)is more suitable for underwater vehicle navigation and positioning issues.Information fusion technology is the core of integrated navigation and positioning.Based on the Kalman filter derived various filtering techniques for integrated navigation provides a rich and effective theoretical basis.In this paper,the SINS/USBL/DVL integrated navigation system is designed.To improve the system's fault tolerance,the Federal Kalman filter based on three different information distribution methods is compared;Aiming at that the measurement noise anomalies are under the condition of mixed Gaussian distribution,the M-estimation filtering is proposed;Finally,the above proposed filtering method is applied to SINS/USBL/DVL integrated navigation system for experimental simulation verification and analysis.The main contents of this paper are as follows:1.Derive the solver equations of the navigation parameters of the fiber SINS,and construct the error model of the fiber SINS.The positioning method based on phase difference of the ultra-short baseline positioning system is introduced,the state equation of SINS/USBL is established,reconstruct the pseudo-observation_rB based on coordinate transformation,Combined with the position error and attitude error information provided by SINS in real time,the measurement equation is established.The velocity principle of Doppler log is studied,the error model of DVL is analyzed and deduced,and the state equation and measurement equation of SINS/DVL integrated navigation system are established.2.Offer the working structure of the federal filter,elaborated the main filter and the sub-filter information distribution and fusion process.The introduction of three different ways of information distribution,based on SINS/USBL and SINS/DVL two sub-navigation system filters,the SINS/USBL/DVL integrated navigation system is designed,and the validity and fault tolerance of the federated filtering algorithm are verified.In view of the poor underwater environment,the sound wave propagation may appear interference,multipath effect and other conditions lead to the phenomenon of abnormal measurement,From a statistical point of view,based on maximum likelihood estimation theory,a Hubble-based generalized maximum likelihood estimation(M-estimation)algorithm is proposed to solve the problem that the measured noise of the integrated navigation system is in mixed Gaussian distribution.At the same time,the errors of the navigation parameters of the integrated navigation system after processing the noise are compared under different conditions of mixed Gaussian distribution contaminated by M-estimation filtering algorithm and standard Kalman filter,and verified by computer simulation.