SINS error estimation based on underwater terrain matching
Jingyuan Zhang · Journal of Naval University of Engineering · 2012
As SINS has accumulated some errors when UUV enters into the matching region,it is necessary to make good use of the matching information to correct the error.Based on the system error model established,a Kalman filter was designed which used the information form,namely the matching module and the depth pressure sensor as measurement.The simulation results indicate that the filter has favourable estimation precision.And by designing the UUV track,a conclusion was drawn that estimation precision of some error is relative to the movement of UUV,which provides reference for the movement state of UUV in matching region.