Abstract
The paper considers operation algorithms of a strapdown inertial navigation system comprising several angular rate sensors and one position gyro. Such a SINS can be optimally used onboard search underwater vehicles with a long-term autonomous operation in the areas where the sonar logs fail to provide coordinate dead-reckoning due to hydrological conditions. Position gyro data are used in SINS algorithms to obtain the navigation solution. Calibration mode in the vehicle surface position uses GNSS data, and navigation mode in the vehicle submerged position uses water speed log data. Results from MATLAB (Simulink) simulation modeling confirm the effectiveness of applying position gyro data in SINS to significantly improve its information autonomy.
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