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Autonomous underwater vehicles (AUVs) always require external sensors for integrated navigation. Doppler velocity loggers (DVLs) and acoustic beacons are common sensors used to assist strapdown inertial navigation systems (SINS), but their systematic errors can affect positioning accuracy. Fortunately, these systematic errors have different characteristics and could be estimated under certain conditions. These conditions are investigated through observability analysis using the Lie derivative method. Simulations are conducted to verify the capability of estimating error sources of ocean current velocity, range drift, and inertial device bias during the navigation process. This study could provide theoretical guidance for AUV path design and error estimation in multi-source integrated navigation.

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Observability Analysis on DVL and Range Assisted AUV Navigation in Presence of Unknown Current and Range Drift

  • 会议论文

  • 发表日期：

    2025年

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  • Jiarui Cui,
  • Maosong Wang,
  • Wenqi Wu,
  • Xianfei Pan

摘要

Autonomous underwater vehicles (AUVs) always require external sensors for integrated navigation. Doppler velocity loggers (DVLs) and acoustic beacons are common sensors used to assist strapdown inertial navigation systems (SINS), but their systematic errors can affect positioning accuracy. Fortunately, these systematic errors have different characteristics and could be estimated under certain conditions. These conditions are investigated through observability analysis using the Lie derivative method. Simulations are conducted to verify the capability of estimating error sources of ocean current velocity, range drift, and inertial device bias during the navigation process. This study could provide theoretical guidance for AUV path design and error estimation in multi-source integrated navigation.