Research on SINS/DVL integrated navigation method assisted by acoustic Doppler delay velocity information

Facing the demand for precise navigation in the complex maneuvering environment, it's necessary to enhance the platform's robust navigation capability under maneuvering conditions. However, the acoustic information from the Doppler velocity log (DVL) exhibits delay, causing asynchronous data fusion and reducing navigation accuracy for the combined Strap-down Inertial Navigation System (SINS)/DVL navigation system. Therefore, this paper aims to compensate for the delay to improve the navigation accuracy of the SINS/DVL system in a dynamic environment. Firstly, the reasons for the acoustic delay are explained by the Doppler effect and the working principle of DVL. Then, it establishes the mathematical relationship between acoustic delay and navigation error. Finally, a novel navigation algorithm, the TRDDKF (Transmitting and Receiving Double Delay Compensated Kalman Filter) algorithm, is proposed to fully compensate for acoustic delay. This algorithm revises the traditional Delayed Kalman Filter (DKF) algorithm framework. Under simulated maneuvering conditions, the TRDDKF demonstrates 93 % and 76 % higher average navigation accuracy than the Kalman Filter (KF) and the DKF, respectively. In lake trial maneuvering conditions, the TRDDKF achieves 98 % and 56 % improvements over the KF and the DKF. The experimental results reflect the necessity of processing acoustic delay and the feasibility of this paper's method.