A Method for INS / DVL Integrated Navigation System Based on Marine Pipeline Node Position

Aiming at the problem of low positioning accuracy caused by unknown or inaccurate noise statistics when the underwater robot inspects submarine pipelines, the marine pipeline nodes' position are used to improve the navigation and positioning accuracy of the underwater INS/DVL integrated navigation system in the harsh underwater environment. The underwater integrated navigation system adopts an Adaptive Square-Root Unsented Kalman Filtering approach (ASUKF) approach based on the Square Root Unscented Kalman Filtering (SRUKF) and the improved Sage-Husa algorithm to resist errors caused by inaccurate noise such as ocean flow. Simulation experiments show that this method can improve the reliability and accuracy of the integrated navigation system compared with the traditional Square Root Unscented Kalman Filter algorithm.