An Integrated Navigation and Localization System

Navigation and localization technique is a critical part of an autonomous underwater vehicle (AUV). It provides critical position information, and determines the efficiency and accuracy of underwater tasks. To improve the accuracy and reliability of the navigation and localization system, we proposed an integrated navigation and localization system with a federated Kalman filter. In this system, we first utilize an improved Kalman filter-based SINS/DVL combined localization method to improve the tracking ability and position accuracy of the inertial navigation. Then we explore an ultra-short baseline (USBL) base phase difference Kalman filtering to improve the localization accuracy of USBL. Finally, we resort to a federated Kalman filter to integrate the SINS/DVL/USBL combined localization system. Experimental results illustrated the navigation and localization system could enhance the positioning accuracy effectively.