Research on SINS/DVL integrated navigation algorithm affected by ocean current

Youlin Wu; Xingshu Wang; Yingwei Zhao; Yujing Tang

doi:10.1117/12.2580235

5 November 2020 Research on SINS/DVL integrated navigation algorithm affected by ocean current

Youlin Wu, Xingshu Wang, Yingwei Zhao, Yujing Tang

Proceedings Volume 11567, AOPC 2020: Optical Sensing and Imaging Technology; 115673T (2020) https://doi.org/10.1117/12.2580235
Event: Applied Optics and Photonics China (AOPC 2020), 2020, Beijing, China

Abstract

For the marine integrated navigation system composed of strapdown inertial navigation system (SINS) and Doppler velocity log (DVL), when the range of DVL is insufficient, it can only output the velocity of carrier relative to ocean current. If the algorithm is not improved, it will cause great navigation and positioning error. In this paper, the Kalman filtering equation is derived by analyzing the error equation of integrated navigation system, and a SINS/DVL integrated navigation algorithm considering ocean current velocity is proposed, and the feasibility of the algorithm is verified by simulation experiments. The simulation results show that the SINS/DVL integrated navigation algorithm considering ocean current information can effectively improve the positioning accuracy when DVL works in water tracking mode.

Citation Download Citation

Youlin Wu, Xingshu Wang, Yingwei Zhao, and Yujing Tang "Research on SINS/DVL integrated navigation algorithm affected by ocean current", Proc. SPIE 11567, AOPC 2020: Optical Sensing and Imaging Technology, 115673T (5 November 2020); https://doi.org/10.1117/12.2580235

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