Fault-tolerant SINS/HSB/DVL underwater integrated navigation system based on variational Bayesian robust adaptive Kalman filter and adaptive information sharing factor

Abstract

To solve the problem that position information obtained by SINS/DVL integrated navigation system is divergent in the underwater navigation applications, this paper introduces hydroacoustic single beacon (HSB) into the underwater integrated system and proposes a novel SINS/HSB/DVL fault-tolerant federated variational Bayesian robust adaptive Kalman filter (FVBRAKF). In the FVBRAKF, the traditional KF is replaced by VBRAKF, which not only suppress the adverse influence of outliers based on Mahalanobis distance (MD) effectively, but also estimate the unknown measurement noise covariance based on variational Bayesian (VB) approximation adaptively. Meanwhile, a novel adaptive information sharing factor (ISF) method is proposed during the information fusion process to form an improved FVBRAKF（IFVBRAKF）, which can adjust the fusion weights in real-time according to the accuracy of local filter. The semi-physical simulation experiments for SINS/HSB/DVL underwater integrated navigation system based on the test data are carried out to verify the adaptive ability of the ISF and the robust adaptive ability of the method, respectively. Experimental results demonstrate that the proposed algorithm can not only improve the estimation accuracy, but also enhance the fault-tolerant performance.