Adjustable SINS, DVL and USBL integrated navigation method
An integrated navigation and adjustable technology, applied in the field of navigation, can solve problems such as accumulation of navigation errors, data jumps, and inability to work for a long time, and achieve the effects of reducing inertial navigation errors, improving accuracy, and improving work adaptability
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[0073] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0074] A kind of adjustable SINS, DVL, USBL combined navigation method of the present invention, flow chart such as figure 1 shown, including the following steps:
[0075] Initial alignment is achieved by collecting SINS information and Global Positioning System (GPS) information;
[0076] After the alignment is completed, the position and speed of SINS, the speed of DVL, and the position data of USBL are collected synchronously for combined navigation in various situations. SINS, DVL, and USBL can judge the valid bits of their own output information in real time (divided into: valid, invalid ) and whether the corresponding accuracy is higher than the set value when the output information is valid (higher than the set value is high precision, not higher than the set value is low precision), select different filtering methods according to specific situatio...
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