Equivalence analysis between DVL/SINS loosely and tightly coupled systems and improved virtual beam-aided tightly coupled algorithm
This paper systematically studies the Doppler velocity logger(DVL)/strapdown inertial navigation system(SINS)tightly coupled navigation system with different available beams.It is demonstrated that the positioning accuracy of tightly coupled system for DVL/SINS beam domain is equivalent to the 3D velocity-aided loosely coupled system when three or four beams are available,and the determination method of measurement covariance matrix in loosely coupled system is given.To address the problem that the positioning accuracy of tightly coupled system decreases with the reduction of available beams,considering the error parameters of DVL,an improved virtual beam-aided tightly coupled algorithm is proposed based on the motion constraint and pressure sensor(PS)measurements.Experimental results show that the loosely and tightly coupled systems have equivalent positioning accuracy when three or four beams are available,and the improved virtual beam-aided tightly coupled system can accurately track the velocity of outage beams,which effectively improves the positioning accuracy of tightly coupled system when different beams are available.
Doppler velocity logger(DVL)strapdown inertial navigation system(SINS)integrated navigationequivalence analysisvirtual beam construction
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