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Volume 28 Issue 2
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2020  >  28(2): 155-161
LI Zhi-wei, YUE Wei, GAO Sheng-feng, CAI Peng, ZHU Hai-rong. The SINS/DVL Integrated Navigation Algorithm Based on Observable Degree Feedback[J]. Journal of Unmanned Undersea Systems, 2020, 28(2): 155-161. doi: 10.11993/j.issn.2096-3920.2020.02.006
Citation: LI Zhi-wei, YUE Wei, GAO Sheng-feng, CAI Peng, ZHU Hai-rong. The SINS/DVL Integrated Navigation Algorithm Based on Observable Degree Feedback[J]. Journal of Unmanned Undersea Systems, 2020, 28(2): 155-161. doi: 10.11993/j.issn.2096-3920.2020.02.006
shu

The SINS/DVL Integrated Navigation Algorithm Based on Observable Degree Feedback

doi: 10.11993/j.issn.2096-3920.2020.02.006
  • 1.

    91001th Unit, the People’s Liberation Army of China, Beijing 100080, China

  • 2.

    Navy Submarine Academy, Qingdao 266199, China

  • Received Date: 2019-04-17
  • Rev Recd Date: 2019-07-28
  • Publish Date: 2020-04-30
    Abstract
  • Aiming at the problem that some system states in strap-down inertial navigation system(SINS)/Doppler velocity log(DVL) integrated navigation have significant influence on navigation accuracy but have relatively weak observability, a SINS/DVL integrated navigation algorithm based on observable degree feedback is proposed. The algorithm quantitatively analyzes the observability of each state parameter of the system, and constructs an adaptive factor based on observability feedback according to the fact that the observability of the system state parameters depends on maneuver states in order to increase the estimated proportion of state parameters when they have high observable degree, and so as to improve the adaptability and accuracy of the algorithm. The performance of the proposed algorithm is verified through lake trial, and the results show that the accumulated error of this observable degree feedback filtering algorithm is obviously smaller than that of the conventional Kalman filter algorithm, and the autonomous navigation time of the SINS/DVL integrated navigation can be prolonged under the same accuracy requirement.

     

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