Research on error correction of beam fault in SINS/DVL tightly coupled navigation system

Abstract This paper focuses on underwater autonomous vehicles as the research object. Compared to traditional loosely coupled navigation systems, the tightly coupled navigation system of Strapdown Inertial Navigation System (SINS) / Doppler Velocity Logger (DVL) can utilize the remaining available beams to complete system filtering when two or more beam failures occur in the DVL. This study first analyzes and constructs a model for the tightly coupled navigation system. Several error correction methods are researched and analyzed based on navigational characteristics such as the Janus structure symmetry and the continuity of filtered data. Under beam failure conditions, the reconstruction of faulty beams is accomplished to achieve error correction. Various methods are validated through simulation to assess their usability within the SINS/DVL tightly coupled navigation system, and the improvement in navigation accuracy provided by each proposed method is analyzed.