Research and implementation of underwater SINS/DVL integrated navigation and positioning algorithm

Abstract

Aiming at the navigation and positioning requirements of Remote Operated Vehicle (ROV) in complex underwater environment, a data fusion algorithm for Strap Inertial Navigation System (SINS)/ Doppler Velocity Log (DVL) integrated navigation and positioning system is established by using feedback controller and Extended Kalman Filter (EKF). Then, the improved filter algorithm is compared with the common filters for navigation numerical simulation. The results show that the improved EKF filtering effect and navigation accuracy are higher. Finally, the motion control was designed based on PID controller, and three-dimensional simulation and actual pool experiments were carried out. In the three-dimensional long distance navigation simulation experiment, the navigation positioning and motion control perform well. In the experiment of manual navigation around the pool, the positioning error can be reduced to less than 10%. In the automatic control navigation experiment, the minimum position error is only 0.05 m. Experiments show that the algorithm and system design in this study have high accuracy and high stability.