Accuracy analysis of DVL/IMU/magnetometer integrated navigation system using different IMUs in AUV

Abstract

This paper presents an integrated navigation system for autonomous underwater vehicles which is based on a Strapdown inertial navigation system (SDINS) accompanying Doppler velocity log (DVL), pressure sensor and magnetometer. The paper focuses on the performance analysis of the bias of inertial sensors and the error of position using different level IMU. An extended Kalman filter is employed to estimate the bias of the inertial sensors and then give the ultimate error of position in about one hour campaign. Numerical simulation was presented and the result shows that the performance of AUV mainly depends on the precision of DVL and magnetometer. The simulation also shows that the performances of the position accuracy with different IMUs are almost same.