A Tightly Integrated SINS/DVL Navigation Method for Autonomous Underwater Vehicle

A tightly integrated SINS/DVL navigation method which is suitable for autonomous underwater vehicle is proposed in this paper. By carefully designing state equations and measurement equations of the integrated navigation system, not only the output of Doppler Velocity Log (DVL) is used to improve the precision of strapdown inertial navigation system (SINS), but also the attitude of carrier estimated by integrated navigation system is used to compensate DVL velocity errors due to swing of the carrier. Simulation results show that as compared with traditional SINS/DVL integrated navigation method, the proposed method can effectively improve the precision of integrated navigation system.