A SINS/DVL navigation method based on hierarchical water velocity estimation

Aiming at the problem that Doppler velocity log (DVL) cannot measure the velocity of the vehicle in the middle water environment, a Strap-down Inertial Navigation System (SINS)/DVL integrated navigation method based on hierarchical water velocity assistance is proposed. Firstly, according to the principle of DVL water layer flow measurement, the paper gives a hierarchical water recurrence principle. On this basis, a water velocity estimation method based on average weighted recurrence is proposed. The carrier depth information is introduced in this method, and the carrier velocity information is obtained by means of average value. This method can prevent the carrier velocity anomaly caused by the large error of single-layer water velocity measurement. Secondly, in view of the problem that the DVL water velocity measurement is easily disturbed in the middle water environment, a sliding window and a Chebyshev polynomial fitting function are introduced to realize the robust treatment of the water velocity. On this basis, combined with the Huber M robust filter algorithm, a hierarchical water velocity assisted integrated navigation algorithm based on the improved Huber M robust estimation is proposed to further improve the autonomous navigation accuracy in the middle water environment. Finally, the method proposed in this paper is verified by simulation. The results show that the hierarchical water velocity estimation method proposed in this paper can effectively estimate the water flow velocity, and its robust filtering algorithm can further improve the SINS/DVL integrated navigation accuracy in the middle water environment.