Research On SINS/GPS/DVL Fault-tolerant Integrated Navigation Method For USV

As countries attach more importance to Marine resources,it is becoming increasingly conflicts for marine resources.It makes countries put more efforts to detect,monitor and intelligence gather about the surrounding marine resources,so that the Unmanned Surface Vehicles(USV)are becoming more and more important.The Navigation system,which is the most important part of the USV,determines the accuracy and effective performance of the sailing.At present,the problem needs USV navigation systems to solve is put forward a comprehensive and effective integrated navigation program to provide more real-time and continuous position,velocity and other information by the common navigation equipments.An effective way to solve the problem is to use fault-tolerant integrated navigation technology.The SINS/GPS/DVL fault-tolerant integrated navigation method of USV is the research object of this paper.Based on the information fusion theory of navigation system,this paper improves the filtering performance of the sub-filter,and designing the intelligent fault detection module based on support vector machine(SVM).So we can improve the accuracy,intelligence,fault tolerance and adaptability of the navigation system in USV.First,this paper introduces the algorithm of unmanned fault-tolerant integrated navigation data fusion,and analyzes the navigation principles,navigation features,and system error characteristics of the SINS,GPS and DVL.Then,in view of the change of the observed data caused by the small hull of USV,this paper is improved the sub-filter algorithm of the federal filter.The fuzzy adaptive kalman filter is introduced to the federal filter,and the subfilter and the whole system's federal filter are simulated.Finally,the navigation system is affected by the interference of the enemy ship and the bad environment of the sea.Aiming at this situation,the study of intelligent fault detection algorithm,SVM is applied to SINS/GPS/DVL integrated navigation system failure detection,in order to improve the navigation precision,intelligence and adaptability.Combined with the fault detection algorithm based on SVM,the simulation of the whole SINS/GPS/DVL fault-tolerant integrated navigation system of USV is carried out,and the feasibility of the scheme is verified.