Error Analysis and Performance Improvement about the SINS/DVL Integrated Navigation System

A filtering theory which was suit for the SINS/DVL integrated navigations system was studied.By building the error models of strapdown inertial navigation system and Doppler velocity log,simulation and analysis had been done based on the applying about the theory of indirection Kalman filtering and feedback correction,and the error covariance of the navigation system was obtained through the error covariance of the inertial sensor.Results showed that the navigation accuracy of this integrated navigation was much better than that of the pure strapdown inertial navigation system.A GPS aided SINS/DVL integrated navigation process was presented,based on the characteristic of the SINS/DVL integrated navigation system and the requirement of navigation accuracy for AUV.