Ocean Current Model Using SINS/GPS/DVL Integrated Navigation

The navigation system of the AUV usually takes SINS as the core, and is supplemented by UPS and DVL. While the output speed of the DVL is relative to the water, and the relative speed is taken as the observed quantity to assist SINS, the navigation accuracy will be declined. In order to solve the problem, SNS/GPS/DVL integrated navigation method is proposed to estimate the ocean current model. In this method, the Kalman filter is used to estimate the ocean current based on the ocean current model, and then the speed relative to the seabed is gained and taken as the measurements for assisting the SINS. Simulation results show that the proposed method can estimate accurately the ocean current speed.