Reaearch on underwater integrated navigation system based on SINS/DVL/magnetometer/depth-sensor

For the long-range voyage and light Autonomous Underwater Vehicle (AUV), the high-precision navigation and positioning is the key point in the completion of the task. Therefore, this paper designs an underwater integrated navigation system, including the strapdown inertial navigation system (SINS), Doppler velocity loci (DVL), magnetometers and depth sensor. Based on the principle of each navigation sensor and the corresponding error model, the mathematic model of each sub-filter of the integrated navigation system is firstly established. Secondly, combining the combination filter and federated filtering theory, the integrated navigation system based on federated filtering is designed. Finally, to eliminate the influence of unknown or time-varying statistical characteristics on the Kalman filter (KF), a new federated filtering algorithm based on Sage-Husa adaptive KF is proposed to estimate each local filter. And the corresponding simulation results will show the performance of the research.