Application of gravity passive aided strapdown inertial navigation in underwater vehicles
by Qi Wang; Chang-Song Yang; Shao-En Wu; Yan Wang
International Journal of Sensor Networks (IJSNET), Vol. 32, No. 4, 2020

Abstract: Underwater navigation technology is the guarantee to ensure the underwater vehicles complete all tasks. A gravity passive aided strapdown inertial navigation system is proposed in order to improve the precision of position of autonomous underwater vehicles (AUVs). Improved unscented Kalman filter (IUKF) is applied in the novel integrated system which is based on gravity gradient characteristics. The main characteristics of strapdown inertial navigation system are presented, gravity-aided navigation system are introduced, and IUKF method is applied to the information fusion of integrated navigation system. Simulation experiments were carried out and the results show that the novel integrated navigation system proposed can get better performance of position precision comparing to the traditional Kalman filtering methods. The simulation experiment results suggest that the IUKF method applied in the gravity passive aided navigation system is capable of greatly improving the long-time navigation position, attitude and velocity precision comparing with the traditional information fusion method.

Online publication date: Wed, 15-Apr-2020

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Sensor Networks (IJSNET):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com