Development of Integrated Navigation Algorithm for Underwater Vehicle using Velocity Filter

속도필터 적용 수중운동체 복합항법 알고리즘 개발

  • Received : 2013.03.12
  • Accepted : 2013.04.19
  • Published : 2013.04.30


This paper describes a robust algorithm for an integrated underwater navigation system based on VKF (velocity Kalman filter). The proposed approach relies on a VKF, augmented by the altitude from an echo-sounder-based switching architecture to yield robust performance, even when DVL (Doppler velocity log) exceeds the measurement range and the measured value cannot be valid. The proposed approach relies on three parts: 1) PINS (pure inertial navigation system), 2) VKF design, and 3) VKF-aided integrated navigation filter design. To evaluate the proposed method, we compare the results of the VKF-aided navigation system with the simulation result from a PINS and conventional INS-DVL method.


IMU;Kalman filter;Velocity filter;INS


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