Simulation on Information Fusion Theory of Network-Torpedo Integrated Navigation

To meet high accuracy requirement of network-torpedo navigation and to ensure high fault tolerance of the navigation system, an inertial navigation system(INS)/Doppler velocity system(DVS)/global position system(GPS) federated Kalman filter scheme is proposed based on information fusion theory. The system equations of INS/DVS, INS/GPS, and INS/DVS/GPS and the measurement equations are established, and the multi information fusion of different integrated navigation patterns is studied by using the non-feedback reset federated Kalman filter to satisfy the accuracy requirement of network-torpedo navigation. Simulation results show that the design of the non-feedback reset federated filter is effective in greatly reducing the error of each navigation parameter and achieving high accuracy of underwater long-range integrated navigation for the network-torpedo.