SINS/DVL integrated navigation algorithm considering the impact of ocean currents

High positioning accuracy is necessary for the strap-down inertial navigation system (SINS) / Doppler Velocity Log (DVL) integrated navigation system when working under water tracking mode. According to this demand, an SINS/DVL integrated navigation algorithm taking into account the impact of ocean current was proposed. The effect of current velocity on the navigation accuracy was analyzed according to the situation when the DVL works under water tracking mode. Based on speed matching integrated navigation method, an SINS/DVL integrated navigation scheme was presented, in which the current speed can be estimated by Klaman filter when the DVL was switched to water tracking mode, thus the positioning accuracy can be improved effectively. Simulations and lake-tests were carried out, and the results show the effectiveness and the feasibility of this SINS/DVL navigation algorithm.