In general, the strap-down inertial navigation system (SINS)/Doppler velocity log (DVL)-integrated method can provide continuous and accurate information for autonomous underwater vehicles (AUV). This SINS/DVL fusion is loosely integrated method, in which DVL may contain large error or does not work when some beam measurements are inaccurate outages complex environment. To solve these problems, this article, a novel tightly composed of an SINS, DVL, pressure sensor (PS) proposed, used...

To enhance the performance of navigation system under complex underwater environment, a hybrid interacting multiple model (HIMM) aided inertial (INS)/Doppler velocity logs (DVL) integration solution is proposed. First, to employ acoustic Doppler current profiler mode DVL, novel INS/DVL mechanism constructed where water estimated in real time and both bottom-track water-track measurements DVL are involved observation vector. Meanwhile, deal with outliers noises DVL's measurements, HIMM...

In order to improve the performance of global positioning system (GPS) and inertial navigation (INS) integrated during GPS outages, a novel fusion algorithm based on back propagation neural network (BPNN) is proposed. A new model built which relates INS velocity, measurement unit (IMU) outputs duration outages position increment. Performance proposed method has been experimentally evaluated in land vehicle test. The test results show: (1) can efficiently predict increment compensate errors...

To improve the efficiency of calibration process and enhance adaptability method, an interacting multiple model unscented Kalman filter (IMM-UKF) aided strapdown inertial navigation system (SINS)/Ultra-Short Base Line (USBL) solution is proposed for common procedure, where only one transponder employed without pre-locating. Firstly, construct SINS/USBL mechanism, transponder's position, level-arm misalignment angle are estimated simultaneously utilizing slant range, inclination angles USBL...

In this paper, a fast robust in-motion alignment method is proposed for the strapdown inertial navigation system (SINS) with DVL aided. The divided into two procedures, which are coarse procedure and fine procedure. procedure, an apparent velocity modeling investigated. Building upon model, Kalman filter (RKF) designed parameter estimation, then optimal observation vector, in outliers of Doppler Velocity Log (DVL) outputs eliminated, reconstructed. As compared existing method, robustness...

The initial alignment process is of vital importance to the strapdown inertial navigation system (SINS), and SINS consisting sensors. In this article, aiding velocity Doppler log (DVL) used implement in-motion process. However, measurements DVL are easy corrupt by outliers, outliers will degrade performance Thus, a robust method for SINS/DVL integrated proposed in article. First, vector construction with introduced. Then, discrete form considering different sampling rates between derived...

Misalignment angle will result in a considerable error for the integration of Doppler velocity log (DVL) and Strapdown Inertial Navigation System (SINS). In this article, robust initial alignment method SINS/DVL is proposed to solve practical applicable issue, which that outputs DVL are often corrupted by outliers. First, principle summarized. Second, based on method, apparent model investigated, parameters expression derived detailed. Using model, unknown estimated developed Kalman filter,...

Initial alignment is of vital importance to the inertial navigation system, and in-motion initial a critical stage for moving vehicles. In this paper, an method SINS/GPS integration investigated. Using velocity, which obtained from GPS, observation reference vectors are constructed. Different previous methods, robust attitude determination devised finish process when there outliers contained in GPS outputs. To implement method, error magnitudes calculated, used detect outliers. However, bias...

SINS/GPS integrated navigation system has been used widely in many application situations. In the system, initial alignment process is carried out to determine attitude of vehicle. Based on previous works, position loci method a robust method. The outliers, which are contained GPS measurements, can be suppressed by loci. However, velocity construct observation vectors works. When errors results bad. To address this problem, vector subtraction operation adopted paper. Then, offset operation....

To mitigate the Doppler velocity logs (DVL) measurement errors in inertial navigation system (INS)/DVL integrated under dynamic environment, a simple and precise correction method is proposed. First, general DVL error model various dynamics explored. Then, corresponding scheme presented, which suits both frequency shift outputs direct of DVL. Different from existing approaches, no assumptions are pre-required to describe regular patterns measurement. The attitude data INS well investigated...

Autonomous underwater vehicle (AUV) mostly relies on an integrated navigation system, which consists of a strap-down inertial system (SINS) and Doppler velocity log (DVL). The provides continuous accurate information when compared to stand-alone SINS or DVL. However, the dependence DVL signals acoustic environment may cause any malfunction due marine organisms strong wave-absorbing material. This article introduces novel method utilizing Dempster–Shafer (DS) theory augmented by least squares...

The matching algorithm is a key technology in underwater terrain-relative navigation (TRN). An improved iterative Closest Contour Point (ICCP) proposed to address the mismatch of sequence mapping event significant initial position error. Based on rich topographical information provided by multi-beam echosounder (MBES) short time, conventional ICCP method searching for target contour points based single-point improved. In order reduce interference heading error, terrain distribution feature...

Strapdown inertial navigation system (SINS)/ Doppler velocity log (DVL) tightly coupled (TC) fusion is a popular scheme as it offers increased robustness compared to other approaches. In TC, DVL beam velocities are separately integrated with SINS in the filter. To enhance performance of SINS/DVL TC integration situations partial measurements, virtual aided solutions proposed, theoretically derived, and experimentally evaluated. that end, we analyze geometrical relation between configuration...

The transverse navigation system has been designed and developed to solve the challenges of in polar regions. However, considerable theoretical errors are introduced into when spherical Earth model is adopted. To tackle this problem, a mechanism under ellipsoidal proposed research application regions algorithm specified evaluated through error analysis. analysis shows presented works both part non-polar Field tests were conducted evaluate performance Nanjing, region. A novel experimental...

Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common solution for underwater vehicles. Due to complex environment, information provided by DVL always contains some errors. To improve accuracy, zero update (ZUPT) technology considered, which an effective algorithm land vehicles mitigate error during pure INS mode. However, in contrast ground vehicles, ZUPT cannot be used directly because of existence water current. In order leverage strengths method and...

Strapdown inertial navigation system (SINS)/ ultra- short baseline (USBL) integrated is widely used in and positioning of underwater vehicle. In an unknown complex environment, unstable USBL measurement information can lead to decreased accuracy. the traditional method, interference uniformly modeled as outliers, but practice, it also represented slowly varying errors, update irregular errors. The latter two errors are not easy be detected at beginning occurrence. Therefore, a SINS/USBL...

In order to maintain a relatively high accuracy of navigation performance during global positioning system (GPS) outages, novel robust least squares support vector machine (LS-SVM)-aided fusion methodology is explored provide the pseudo-GPS position information for inertial (INS). The relationship between yaw, specific force, velocity, and increment modeled. Rather than share same weight in traditional LS-SVM, proposed algorithm allocates various weights different data, which makes immune...

In navigation of autonomous underwater vehicles (AUVs), the estimation position is an important issue, especially, when sensors such as gyroscopes contain a lot noise, and velocity information Doppler log (DVL) affected by motion attitude vehicle. this paper, based on improved auto regressive (AR) model, real-time filter utilized for gyroscope signal de-noising. Meanwhile, according to characteristics AUV, influence vehicle DVL measurement error analyzed assist (MAA) method model introduced...

In order to solve the problem of strap-down inertial navigation system (SINS)/Doppler velocity log (DVL)/ultrashort baseline (USBL) interference in complex underwater environment, an asynchronous sequential robust filter method is proposed this article. The USBL original information azimuth, slant range and altitude are introduced as measurement information. large amount computation caused by high dimension multisensor fusion solved introducing technology. Meanwhile, a Kalman (KF) algorithm...