Multi-Scale Fusion Algorithm for AUVs Integrated Navigation Systems

To deal with the low location accuracy issue of existing underwater navigation technologies in autonomous underwater vehicles (AUVs), a distributed fusion algorithm which combines the model's analysis method with a multi-scale transformation method is proposed for integrated navigation system based on AUV. First, integrated navigation system theory and system error sources are introduced in details. Secondly, a navigation system's observation equation on the original scale is decomposed into different scales by the discrete wavelet transform method, and noise reduction is performed by setting the wavelet de-noising threshold. At last, the dynamic equation and observation equations are fused on different scales by the wavelet transformation and Kalman filter. The results show that the proposed algorithm has smaller navigation error and higher navigation accuracy.