Modified Sage-Husa Adaptive Kalman Filter-Based SINS/DVL Integrated Navigation System for AUV

This paper presents a modified Sage-Husa adaptive Kalman filter-based SINS/DVL integrated navigation system for the autonomous underwater vehicle (AUV), where DVL is employed to correct errors of SINS that accumulate over time. When negative definite items are large enough, different from positive definiteness noise matrices which cannot be guaranteed conventional filter, proposed filter deletes update laws matrix ensure convergence filter. In other words, this method sacrifices some filtering precision stability The simulation tests implemented verify expected accuracy AUV can obtained using