A New Method to Improve the Maneuver Capability of AUV Integrated Navigation Systems

Abstract

The maneuver characteristic of the most commonly used AUV integrated navigation systems was investigated in this paper. After analyzing the error cause of conversional used Kalman filter of SINS/DVL integrated navigation systems in maneuver state, a novel method was proposed which is to use the output of complex navigation systems to revise the SINS in real-time, and an improved adaptive Kalman filter was discussed here to reach the seamless changing of the whole system. The measurement remnant method was introduced to judge whether the bearing change event happened or not. The whole design was aiming to reach the smooth transition between the different motion states and improve the maneuver capability of the AUV navigation system. The simulation results confirms the new approach could restrain the oscillation of Kalman filter in motion chang ing state and improve the accuracy of the AUV integrated navigation systems.