Design of AUV integrated navigation system based on Sage-husa adaptive filtering algorithm

This paper mainly puts forward a new type of based on strapdown inertial navigation system(SINS)and GPS integated navigation system design scheme,Strapdown inertial navigation system is the main system,together with a GPS reset strapdown inertial navigation system,The kalman filter model for the system is built up,design Kalman filter algorithm with output correction indirect method and Kalman filter algorithm using sage-husa self-adaption to SINS/GPS integrated navigation system,The simulation results reveal that due to the GPS position and speed the introduction of information,to a certain extent,overcome the strapdown inertial navigation system error state divergent phenomenon,To improve the navigation accuracy.at the same time through the two algorithm’s contrast,sage-husa adaptive kalman filtering algorithm has higher filtering accuravy and stability,can better meet the requirements of long distance navigation.