Mar 2, 2025 · To improve the positioning accuracy of the INS/DVL system, we consider the effects of underwater correlated noise and abnormal values in the DVL measurement process on the filtering results, and we propose a new DVL/INS integrated navigation model based on an innovative event-triggered mechanism.

Its navigation system is based on an inertial navigation system (INS) aided by a Doppler velocity log (DVL), magnetometer, and pressure sensor (PS). In many INSs, such as the one used in TAUV, only the velocity vector (provided by the DVL) can be used for aiding the INS, i.e., enabling only a loosely coupled integration approach.

Jan 12, 2023 · Considering the advantages of USBL and DVL, respectively, an INS/DVL/USBL integrated navigation system is a feasible scheme for Autonomous Underwater vehicles (AUV). Integrated navigation filtering methods can be divided into centralized filtering and federal filtering .

In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed.

Nov 14, 2018 · In most autonomous underwater vehicles (AUVs), the navigation system is based on an inertial navigation system (INS) aided by a Doppler velocity log (DVL). In several INSs, only the velocity vector, provided by the DVL, can be used as input for assistance, thus limiting the integration approach to a loosely coupled one.

Oct 28, 2013 · The parameters including the scale factor of DVL and misalignments between INS and DVL are key factors which limit the accuracy of the INS/DVL integration. In this paper, a novel parameter calibration method is proposed.

Dec 4, 2022 · In contrast to the traditional SINS, DVL, and PS tightly integrated navigation methods, the proposed method in this paper is based on the velocity variation of the DVL beam by applying the DVL bottom-track and water-track models.

Feb 4, 2021 · For the integrated INS/DVL method, we used three gyroscopes and three accelerometers to monitor the attitude (roll, pitch, and yaw) of the ship, and hence improved the accuracy of position estimation.

Oct 22, 2015 · Our analysis and simulation for the INS/DVL and INS/PS AUV navigation system showed some interesting results. First, as expected, the observable sub-space becomes larger as maneuvering becomes more complex.

The autonomy of the integrated system based on INS/CNS/DVL is much better compared with the integration based on INS/GNSS alone. However, the accuracy of DVL velocity and CNS position are decreased by the measurement noise of DVL and bad weather, respectively.