Research on marine inertial/PLBL/polarized-light integrated navigation algorithm

Abstract

The inertial navigation working mode with Doppler Velocity Log (DVL) assisted has been frequently used in marine carriers. However, it is difficult to correct the system position error and heading angle error in this mode. Therefore an inertial/PLBL/polarized-light integrated navigation method has been designed by investigating the PLBL (Pseudo Long Base Line) acoustic localization algorithm and the orientation principle of atmospheric polarized light. In this study, we built the extended Kalman filter model of the inertial/PLBL/polarized-light integrated navigation. Then the semi-physical simulation system has been set up to verify the algorithm and the model. The results indicate that the distance information, provided by PLBL, effectively corrects the heading angle error and holds the position accuracy within 4 meter. And the azimuth information, provided by the polarized light, effectively corrects the system heading angle error, and makes the heading angle and the polarized-light-measured angle well-matched in accuracy. The inertial/PLBL/polarized-light integrated navigation method gets rid of the dependence on GPS, improves the performance of the navigation system and has important application value.