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.

2025年3月2日 · 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.

2023年1月12日 · 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 .

2013年10月28日 · 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.

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.

2018年11月14日 · 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.

2022年12月4日 · 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.

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.

2021年2月4日 · 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.

2022年7月17日 · The accuracy of attitude and position estimation in navigation after using the inertial navigation system/Doppler velocity log (INS/DVL) and INS/DVL/gyrocompass (IDG) for 1 h were evaluated, and the results were compared to those obtained using the conventional Kalman filter (KF) estimation method.