Aiming at the navigation and positioning requirements of Remote Operated Vehicle (ROV) in complex underwater environment, a data fusion algorithm for Strap Inertial Navigation System (SINS)/ Doppler Velocity Log (DVL) integrated navigation and positioning system is established by using feedback controller and Extended Kalman Filter (EKF). Then, the improved filter algorithm is compared with the common filters for navigation numerical simulation. The results show that the improved EKF filtering effect and navigation accuracy are higher. Finally, the motion control was designed based on PID controller, and three-dimensional simulation and actual pool experiments were carried out. In the three-dimensional long distance navigation simulation experiment, the navigation positioning and motion control perform well. In the experiment of manual navigation around the pool, the positioning error can be reduced to less than 10%. In the automatic control navigation experiment, the minimum position error is only 0.05 m. Experiments show that the algorithm and system design in this study have high accuracy and high stability.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.