Abstract
In order to solve the problem of SINS/DVL/USBL system interference in complex underwater environment. An asynchronous sequential robust filter method is proposed in this paper. The original output azimuth, slant range and altitude of the ultra-short baseline as the measurement information, a compact combination model is established. The problem of large amount of computation caused by the high measurement dimension of multi-sensor information fusion is solved by introducing asynchronous sequential filter technology. Meanwhile, a robust Kalman filter algorithm is proposed, which based on Mahalanobis distance. The outlier detection is designed based on statistical characteristics. Finally, the effectiveness of the method proposed in this paper is verified by simulation and River experiments. The experimental results show that the method proposed in this paper can effectively eliminate outliers and improve the navigation accuracy while reducing the amount of computation.
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