Methods of adaptive filter to integrated navigation system of autonomous underwater vehicle

The SINS/GPS integated navigation system was studied.Taking strapdown inertial navigation system as the main system together with a GPS reset strapdown inertial navigation system,the Kalman filter model for the system was built up.The Kalman filter algorithm with output correction indirect method and the Kalman filter algorithm using sage-husa self-adaption to SINS/GPS integrated navigation system were designed.The simulation results reveal that due to the GPS position and speed the introduction of information,the strapdown inertial navigation system error state divergent phenomenon disappears,and the navigation accuracy is improved.Sage-husa adaptive Kalman filtering algorithm has higher filtering accuracy and stability,and it can better meet the requirements of long distance navigation.