A DVL Measurement Correction Method In High Dynamic Environment And Its Application For SINS/DVL Integrated Navigation

Aiming at the degradation of strapdown inertial navigation system (SINS)/ Doppler velocity log (DVL) integrated navigation accuracy under high maneuvering conditions, a new SINS/DVL tightly integrated navigation algorithm for high dynamic environment is proposed. Firstly, based on the DVL measurement principle, the relationship between DVL frequency shift and AUV instantaneous velocity is constructed. The SINS high precision measurement information in short time are utilized to compensate for the motion changes. And a new DVL measurement error correct method is obtained. Then, the SINS/DVL tightly integrated navigation framework is redesigned based on the proposed error compensation method under high dynamic environment. The simulation and sea trial are conducted to verify the effectiveness of the proposed algorithm.