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Sensors 2018, 18(2), 364;

A Novel Grid SINS/DVL Integrated Navigation Algorithm for Marine Application

College of Automation, Harbin Engineering University, Harbin 150001, China
Authors to whom correspondence should be addressed.
Received: 7 December 2017 / Revised: 21 January 2018 / Accepted: 23 January 2018 / Published: 26 January 2018
(This article belongs to the Special Issue Inertial Sensors for Positioning and Navigation)
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Integrated navigation algorithms under the grid frame have been proposed based on the Kalman filter (KF) to solve the problem of navigation in some special regions. However, in the existing study of grid strapdown inertial navigation system (SINS)/Doppler velocity log (DVL) integrated navigation algorithms, the Earth models of the filter dynamic model and the SINS mechanization are not unified. Besides, traditional integrated systems with the KF based correction scheme are susceptible to measurement errors, which would decrease the accuracy and robustness of the system. In this paper, an adaptive robust Kalman filter (ARKF) based hybrid-correction grid SINS/DVL integrated navigation algorithm is designed with the unified reference ellipsoid Earth model to improve the navigation accuracy in middle-high latitude regions for marine application. Firstly, to unify the Earth models, the mechanization of grid SINS is introduced and the error equations are derived based on the same reference ellipsoid Earth model. Then, a more accurate grid SINS/DVL filter model is designed according to the new error equations. Finally, a hybrid-correction scheme based on the ARKF is proposed to resist the effect of measurement errors. Simulation and experiment results show that, compared with the traditional algorithms, the proposed navigation algorithm can effectively improve the navigation performance in middle-high latitude regions by the unified Earth models and the ARKF based hybrid-correction scheme. View Full-Text
Keywords: middle-high latitude regions; grid frame; integrated navigation; unified Earth model; ARKF hybrid-correction middle-high latitude regions; grid frame; integrated navigation; unified Earth model; ARKF hybrid-correction

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Kang, Y.; Zhao, L.; Cheng, J.; Wu, M.; Fan, X. A Novel Grid SINS/DVL Integrated Navigation Algorithm for Marine Application. Sensors 2018, 18, 364.

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