Research on the error model of INS/DVL system for Autonomous Underwater Vehicle

The paper studies a method in order to promote the accuracy of the control and simulation system of AUV (autonomous underwater vehicle) under the help of the error models of INS (inertia navigation system)/DVL (Doppler velocimeter log) integrated navigation system. Time series models are given in this paper, which describe the longitude error and latitude error of the INS/DVL integrated navigation system in AUV. The models have been tested and prove to be effective in error prediction and fitting. They are applied to the AUV simulation system to ameliorate the control arithmetic, which show a good effect on improving the control precision of the simulation systems of AUV.