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1、ResearchonTechno『ogyofAUVIntegratedNayigatioilSystemBasedoilMultivariate1nformatiorlFusionAbstractAstileexp]orat[onanddevelopmentoloc‘2811progressesthedemandol’underuatervehiclev4thautonomousnavigationcapabiligesisgrowingInacomplexenvironmentofdeepsea，theinertialnavigationusingsepaIate“Ⅲ1n1
2、1nenl5can’tovercomethesystemC／TOraccumulationproblem．a(chǎn)ndcannotⅫ“sl、therequirementofhighprecisionautonomousnavigation．sousingnmltipleinlormationlhsionprovidedbysensorsandoptimalfilteringalgorilhnlbecomcthemaintrendL'rresearchPhisariiclcresearchintegratednavigationalgorithm“A【IV．Inthispaper．w
3、cdesignanAIIVintegratednavigationsystembased1)『1muhiplcinfinmad～¨1fllsI【’【1111thissystem?scAllRS，gpsandDVLasliar,+igationparameleIsinputscnh‘)nIocalculatingandfixingna'dgationsystemInoldelto‘)、c[COlllethecll-O[．tcc[inlIdatitmproblemthispaperdesignsthe”surfacecorrection．underwatersilenthunte
4、r”mLlLIcThestrap&mninertialnavigationsystem／GI’Sintegratednavigation¨stcnlisusedinsurlacccorrectkmmodeInthismodeweuserealtimedataJnllllaI'Sit，n·rIcctspeedandpositioninformationThestrapdowninertialnaxigations)stcm／D＼,'lintegratedna、igationsystemisusedinunder,,～atersilenlhunternltKteInddsmode
5、weusethedatafromDVI．a(chǎn)ndnavigationsystemtocalculatenn、igationparanletersInordertokeepsystemsafe．steadyandhigh-precisionweresearchandrealizctwokindsnavigationsystemalgorithmrespectivelywhichareconlbmed『1a、igalionofAUVbasedOilH∞r(nóng)obustexpansionalgoriflunandcombinednaxigationolAUVbasedOlltheexte
6、ndedkalmanfilteringalgorithmoptimizedbyBPneuralnetworkalgorithmAccordingtotheactualoperationweanalysetheiradxanlagesanddisadvantagesrespectivel)EKFistheoptimizingalgoritlunofKalmeaxfilter∞r(nóng)floi
7、-linearen～㈣m。j“WedesignstateequalionandobservationequalionofEKFbstrapdowninertialnavigationsystem
8、andDVLerl-orequationswhichcancalculatethevaliouserrorsIIIBecauseitisdick)thattherealrunning。mthmmenlol’AUVintegratednavigationsystem．theprecisemathematicalmodelof5)stemandthetranscendentcharacteristicul'the5atopawdifficulttogetandcauseIKFIogetdivergenceI
