SINS/USBL integrated navigation fault-tolerant method with chi-square test

Precision and reliability are the most important standards to decide the capability of navigation system. The strapdown inertial navigation system (SINS) provides autonomous underwater vehicle (AUV) attitude, velocity and position information continuously when the task and mission are carried out in the complex marine environment. It has the advantages of high positioning accuracy in short-term, but its position error also diverges with time. The position error of ultra short baseline (USBL) is bounded within operating range. Because of its small array size, easy to install, etc., it has a wide applications in marine development. According to the characteristic of the SINS and USBL, a SINS/USBL integrated navigation fault-tolerant method with chi-square test is presented. Experiments on Qiandao Lake show that the proposed method is available.