Key Techniques of SINS/DVL Integrated Navigation System

Abstract

Doppler Velocity Log (DVL) aided Strapdown Inertial Navigation System (SINS) is commonly used for the applications of Autonomous Underwater Vehicles (AUVs). In lack of other aiding sensors, how to maintain precise integrated navigation is still a challenge issue. In this paper, the structure and basic principles of the SINS is presented. Alignment calibration of SINS and DVL, fast in-motion alignment and data fusion are key factors which has great influence on the navigation accuracy. Research efforts taken in these fields in recent years are surveyed. This paper may provide a firm foundation for the researchers in related areas.