SINS/DVL loose integrated navigation model improvement method based on ST-EKF

The invention relates to an ST-EKF-based SINS/DVL loose integrated navigation model improvement method. The method comprises the following steps: establishing a filtering model of an ST-EKF-based SINS/DVL integrated navigation system; judging whether the speed information returned by the DVL is an effective value or not; the working mode of the DVL is judged, and the bottom working mode and the water working mode are measured and updated according to the working mode of the DVL; and after the updated state vector is fed back to the carrier speed and position information calculated by the SINS, final position and speed information is output. According to the invention, the navigation precision of the integrated navigation system when the DVL is in the bottom working mode and the water working mode is improved. 本发明涉及基于ST-EKF的SINS/DVL松组合导航模型改进方法，包括：建立基于ST-EKF的SINS/DVL组合导航系统的滤波模型；判断DVL返回的速度信息是否为有效值；判断DVL的工作模式，根据DVL的工作模式分别对对底工作模式、对水工作模式进行量测更新；更新后得到的状态向量反馈到SINS解算的载体速度和位置信息后，输出最终的位置和速度信息。本发明提高了在DVL处于对底工作模式、对水工作模式下的组