A Hybrid Usage Scheme of DVL Measurement for SINS/DVL Integration
Lubin Chang, Chaoli Jiang, Tiangao Zhu, Kailong Li · IEEE/ASME Transactions on Mechatronics · 2025
In this article, a novel integration scheme is proposed for strapdown inertial navigation system and Doppler velocity log (SINS/DVL) integration. In the proposed scheme, the position is updated based on DVL dead-reckoning instead of the traditional SINS velocity integration. The DVL body velocity is still used as the measurement for the integration filtering. The linear error state-space model is derived based on the new scheme. The proposed SINS/DVL integration scheme circumvents the problem that selecting the better integration scheme of DVL velocity-based measurement and DVL dead-reckoning position-based measurement for SINS/DVL integration. In overall, the proposed scheme possesses a competitive performance with the better one of the aforementioned two traditional schemes. Two field test experiments are conducted to verify the feasibility and effectiveness of the proposed method.