Applied Research on SINS/DVL Integrated Navigation for Ice Speed Measurement of Autonomous Underwater Vehivles

To address the issue that the traditional integrated navigation of strapdown inertial navigation system (SINS) and Doppler velocity log (DVL) fails in polar marine areas due to the limited range of DVL, which makes ground velocity measurement impossible, this study focuses on the operating scenarios of autonomous underwater vehicles (AUVs) near ice surfaces in polar regions and investigates the feasibility of an integrated navigation scheme based on SINS and DVL for ice-relative velocity measurement. To verify this ice-relative velocity measurement scheme, the test adopts a configuration where the AUV is equipped with two sets of DVLs to conduct ground velocity measurement and ice-relative velocity measurement separately. The test results show that the accuracy of DVL for ice-relative velocity measurement is far lower than its nominal accuracy for ground velocity measurement, and there is a significant oscillation phenomenon during the velocity measurement process. On this basis, the accuracy of the integrated navigation scheme combining SINS and DVL for ice-relative velocity measurement is also lower than that of the ground-velocity-measurement integrated navigation system composed of the same equipment.