MATLAB Simulation for AUV Inertial Navigation System

When using the MATLAB simulation program for AUV inertial navigation systems, key components include trajectory generation, GPS/SINS integration, and GPS/DVL integration. The trajectory generation module typically employs kinematic models and waypoint-based path planning algorithms to simulate AUV movement patterns. The GPS/SINS integration utilizes Kalman filtering techniques (such as extended Kalman filters or unscented Kalman filters) to fuse GPS position data with SINS inertial measurements, significantly improving positioning accuracy through sensor fusion algorithms. Similarly, the GPS/DVL integration combines GPS positioning with Doppler Velocity Log measurements using optimal estimation methods to enhance velocity and position precision. This simulation framework implements navigation equations, sensor error models, and data fusion algorithms to provide comprehensive analysis of AUV navigation techniques. Through this MATLAB simulation environment, researchers can effectively study and master AUV navigation technologies while developing strategies to improve positioning accuracy and navigation performance. The codebase includes functions for sensor data processing, state estimation, and performance evaluation metrics.