dvl

The result of surface water experiment demonstrates that DVL can eliminate the accumulated errors of inertial navigation system and improve navigation accuracy .

实验结果表明，多普勒测速仪能够有效地抑制惯导误差随时间积累的缺点，提高了导航定位的精度。

Research on underwater vehicles navigation system based on DVL and fiber-optic gyro

基于多普勒和光纤陀螺水下机器人导航系统研究

Information fusion technology and its application in INS / GPS / DVL integrated navigation

信息融合技术在INS／GPS／DVL组合导航中的应用研究

SINS / DVL Integrated Navigation Technology in Autonomous Underwater Vehicle

AUV中SINS/DVL组合导航技术研究

SINS / DVL Integrated Navigation Method for Unmanned Underwater Vehicles

无人水下航行器SINS/DVL组合导航方法研究

Study of the Integrated Navigation Arithmetic and the Application in the SINS / GPS / DVL System

组合导航算法及其在SINS/GPS/DVL组合导航系统中的应用

Propose an auxiliary method of AUV navigation when the DVL data in case of failure .

提出了一种在DVL数据失效的情况下，海流信息辅助AUV导航的方法。

The Application and Research of GPS / SINS / DVL Integrated Navigation in Autonomous Underwater Vehicle Navigation System

SINS/DVL/GPS组合导航在远程AUV上的应用研究

The Doppler Velocity Log ( DVL ) simulation system for the underwater vehicle has been built in this paper .

本文建立了水下机器人的多普勒测速声纳仿真系统。

The nonlinear global observability analysis approach is used to analyze the observability of SINS / DVL integrated navigation system .

利用非线性全局可观性理论，分析了组合导航系统的可观性。

Fault-tolerance filtering of TT & C ship 's INS / GPS / DVL integrated navigation

航天测量船INS／GPS／DVL组合导航系统容错滤波方法

This paper studies SINS / GPS / DVL integrated navigation whose emphases is Kalman Filter , and failure detection .

本文主要研究以卡尔曼滤波算法为核心的SINS／GPS／DVL组合导航以及故障检测。

When AUV is working independently , it takes the SINS / DVL mode to navigate .

水下自主潜器工作时，水下定位采用SINS/DVL组合模式。

Therefore , traditional dead reckoning method relies highly on velocity sensor as Doppler Velocity Log ( DVL ) and attitude sensor .

传统航位推算算法依赖于多普勒测速仪（DVL）采集的速度数据和姿态传感器采集的姿态数据。

Thus , these data suggest ROS has two roles in regulating the Wnt pathway , which is dependent on Dvl .

因此，这些研究提示ROS依赖于Dvl在调节Wnt信号通路中起双重作用。

Firstly , the paper introduced the basic theory and characteristics of the Strapdown Inertial Navigation System ( SINS ), the GPS , and the DVL system .

论文首先介绍了捷联式惯性导航系统、GPS导航系统和多普勒计程仪的基本原理及各自特点，并建立了捷联惯性导航系统的非线性误差模型。

The above conclusions are supported by simulations results . 3 . The error model of SINS / DVL is validated by vessel tests .

文中还利用仿真实验验证了可观性分析的结论。3、通过船载试验对SINS/DVL组合导航系统模型进行了验证。

It is an effective way in integrated navigation by using Strapdown Inertial Navigation System ( SINS ), GPS and Doppler Velocity Log ( DVL ) .

利用捷联惯导（SINS）、GPS定位系统和多普勒计程仪（DVL）进行组合导航是水下运载器导航定位的有效方式。

SINS / DVL integrated navigation system using the high accurate velocity offered by DVL to restrain the error accumulation of SINS is a widely-used under-water integrated navigation technology .

SINS/DVL组合导航系统利用DVL提供的高精度速度信息抑制捷联惯导系统的误差积累，是目前广泛应用的水下组合导航技术。

The simulation result shows that after timing introducing GPS navigation information this navigation system can increase the positioning accuracy evidently , and overcome the question of the positional error accumulated with the of time in SINS / DVL Integrated Navigation .

仿真结果表明在定时引入GPS导航信息后，该导航系统能够使水下航行器定位精度有很大提高，基本克服了SINS／DVL组合导航系统中定位误差随时间累积的问题。

The warship navigation system applied in our project need to be of high precision . According to this requirement , the paper presented an INS / GPS / DVL federated Kalman filter scheme based on information fusion theory of multi-sensors integrated navigation system .

为克服某船载导航系统不能满足长时间高精度导航定位需要的缺点，提出了一种基于信息融合技术的INS／GPS／DVL联邦滤波器组合导航方案。

For the two factors , researches on SINS / DVL integrated navigation technology have been done as the following aspects : 1 . The error model of SINS / DVL based on online estimation of misalignment angles and scale factor error is deduced .

针对以上两大问题，本文从以下几个方面对SINS/DVL组合导航技术进行了研究：1、推导并建立了基于安装误差角和刻度因子误差在线估计的SINS/DVL组合导航系统误差模型。