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《Ordnance Industry Automation》 2010-02
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Research on Large Voyage AVU SINS/DVL Combined Navigation Orientation Precision

QIAN Hui1,DING Yong-zhong2 (1. Staff Room of Torpedo,Naval University of Engineering,Wuhan 430033,China; 2. Military Representatives Office,No. 705 Research Institute,China Shipbuilding Industry Corporation,Xi'an 710075,China)  
In order to improve the precision of AUV navigation orientation and research the application of SINS/DVL combined navigation system in the large voyage AUV. Firstly,the model of analyzing error will be established. Secondly,calculate the error by the normal kalman filter equation; lastly,use simulation to analyze the error by the normal kalman filter arithmetic with known system yawp and observation yawp. The result indicates that error array will be not non-negative definite any more because the filter is divergent obviously,it will make influence the filter increment.
【CateGory Index】: TN967.2
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