Time-Varying Current Estimation Method for SINS/DVL Integrated Navigation Based on Augmented Observation Algorithm
Year: 2025
Type: article
Abstract: To address the problem of the bottom velocity being directly affected by the time-varying ocean currents when DVL operates in the water observation mode, it cannot be directly used for combined SINS/DVL navigation. Existing methods generally approximate small-scale, short-term currents as constant; however, this assumption is inconsistent with reality over longer durations. When the conventional Kalman filter (KF) algorithm incorporates currents into the state vector, their velocities become entangled with the SINS errors, limiting estimation accuracy. This paper proposes an augmented observation algorithm (AOA) that achieves error decoupling by enhancing DVL observation and deriving the observable current velocity equation without needing external observation information. This approach effectively estimates time-varying currents. The results from simulations and shipboard tests show that, compared to the reference algorithm (Augmented Observation Quantity Filtering algorithm (AOQ)), the proposed AOA significantly decreases the root mean square error (RMSE) of time-varying current velocity estimation by more than 67%. Additionally, the RMSE of the positioning accuracy of the combined SINS/DVL navigation is improved by over 68%.
Source: Symmetry
DOI: 10.3390/sym17111881
Institution: Naval University of Engineering
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
Award: G5141114986
OpenAlex ID: W4415923984