提高INS/DVL速度组合可观性的新方法

New Method of Improved Observation of Velocity Integrated for INS/DVL

通过调整INS/DVL组合导航系统的数学模型,在INS/DVL状态方程和观测方程组中增加经度误差观测量,提高速度组合的可观性,进一步抑制经度误差的发散现象,从而了提高系统的定位精度。

Adjusting the mathematics model of INS/DVL, can increase the stabilization of INS/DVL's longitude and limit the radiation of longitude, and the integral filter precision of INS/DVL is improved.