An Integrated Navigation Method Based on SINS/DVL-WT for AUV

The strapdown inertial navigation system (SINS) is becoming a commonly used navigation method now for underwater vehicle. But according to its principle, the positioning error of SINS accumulates over time. Therefore, we should use other navigation means to enhance its accuracy, robustness and sustainability. The Doppler velocity log (DVL) is an available and reliable means. By the speed combination, the performance of SINS will be improved significantly. But when the DVL is working in water-track mode or we use relative log, we shouldn’t neglect the influence of ocean current. Together with real-time current estimation, DVL water-track (DVL-WT) assisting SINS is included in the paper. The simulation results show that DVL-WT assisting SINS can provide more accuracy order of magnitude than pure SINS.