An AUV integrated navigation method based on multi-sensor data fusion

作者：Shen Jie; Zhang Zhen; Bai Hongyang; Liu Shengchun; Gu Hui; Wang Huibin

来源：International Journal of Control and Automation, 2015, 8(1): 93-102.

DOI：10.14257/ijca.2015.8.1.08

• Autonomous navigation
• Autonomous navigation vehicles
• AUV
• Inertial navigation systems (INS)
• Integrated navigation
• Kalman-filtering
• Multisensor data fusion
• Realistic environments

Autonomous Navigation Vehicle (AUV) navigates to the specified longitude and latitude on water surface by means of Global Positioning System (GPS), Inertial Navigation System (INS) and Electronic Compass (EC), then dives to the specified depth according to the measurements of Depth Gauge (DG). To overcome the low location accuracy of existing navigation technologies in AUV, an integrated navigation method based on multi-sensor data fusion of GPS/INS/EC/DG has been proposed. Since the systematic stability and high precision in short-term measurement of INS, it takes the INS as common reference system. The problem which measurement error accumulates with time is solved by the combination of four sub-filters and a main filter. The sub-filters output the measured velocity, position, orientation and depth error to the main filter, which fuse the data to obtain the global optimal estimation and feedback to the INS system. Realistic environment parameters are simulated in MATLAB to verify the rationality of the navigation algorithm. The feasibility of method is proved by the comparison of position errors with and without combined navigation.

• 出版日期2015
• 单位南京理工大学; 河海大学