Study on the Design and Algorithm of INS/MCP/DR Integrated Navigation Method for Underwater Glider

A novel navigation system with low power, simple design, high precision navigation applied to the glider to run longer time underwater was proposed. For improving the long-term navigation and positioning precision, an integrated method including a dead reckoning(DR) model, a magnetic compass pilot(MCP) and an inertial navigation system(INS) was developed. In addition, a novel adaptive algorithm of unscented Kalman filter(UKF) fusing the fuzzy logic controller was proposed to improve navigation precision, the convergence speed of filter and the robustness of the integrated system. Simulation results showed that this integrated method can restrain the fast growth of INS errors and improve the location accuracy in long-term underwater navigation, and this algorithm has the obvious advantage in enhancing the robustness of the integrated system over popular UKF method.