Research on error correction methods for the integrated navigation system of deep-sea human occupied vehicles

Because electromagnetic wave attenuates fast in water, some land navigation equipment cannot be used underwater, so Long Base Line, Doppler Velocity Log and Motion sensor become the main mean of navigation and positioning for HOV. This paper puts forward the corresponding errors compensation methods for the instruments and system that mainly used underwater in order to improve the navigation and positioning accuracy. In this paper, UKF is selected as filtering algorithm to fuse the data after compensation. At last, the numerical experiments showed that the propose approach here is applicable and effective.