The large random errors in Micro-Electro-Mechanical System (MEMS) gyros are one of the major factors that affect the precision of inertial navigation systems. Based on the indoor inertial navigation system, an improved wavelet threshold de-noising method was proposed and combined with a gradient radial basis function (RBF) neural network to better compensate errors. We analyzed the random errors in an MEMS gyroscope by using Allan variance, and introduced the traditional wavelet threshold methods. Then, we improved the methods and proposed a new threshold function. The new method can be used more effectively to detach white noise and drift error in the error model. Finally, the drift data was modeled and analyzed in combination with the RBF neural network. Experimental results indicate that the method is effective, and this is of great significance for improving the accuracy of indoor inertial navigation based on MEMS gyroscopes.

The integration of the strapdown inertial navigation system (SINS) and Doppler velocity log (DVL) has become a basic navigation solution for Autonomous Underwater Vehicles (AUVs). However, DVL cannot obtain the velocity relative to the ground when the distance between the AUV and seabed is over the operating range, which occurs often when AUVs are sailing in the middle layer of the ocean. When the DVL velocity relative to the current is used for an integrated filter, the unknown current velocity is coupled with the measured velocity error, which decreases the positioning accuracy. To address this problem, the effect of unknown coupled current velocity is analyzed from the perspective of filter observability, and an integrated SINS/DVL/virtual velocity navigation method is proposed. The virtual velocity based on the velocity variation extracted from the inertial measurement unit and DVL is constructed and used as an aided measurement for the Kalman filter. With the help of virtual velocity, the current velocity can be easily decoupled from measured SINS velocity error. The results of simulation and experiments demonstrated that the proposed method can effectively improve both the convergence speed and accuracy of velocity error compared with the classical method with SINS/DVL integration and, thus, significantly improve the positioning accuracy.

To address the challenge of DVL beam failure in complex underwater environments, especially under water tracking mode, a robust SINS/DVL/PS tightly integrated navigation method under partial beam failure is proposed in this paper. A new Doppler shift-based system model is modelled by incorporating the ocean current velocities into the state vector. Furthermore, to enhance system robustness under partial beam failure, a DVL fault detection and fault-tolerant strategy based on Mahalanobis distance and virtual beam reconstruction is developed to handle DVL partial beam failures. Simulation and sea experiments results demonstrate that the proposed method ensures robust navigation performance in both bottom tracking (BT) and water tracking (WT) modes. In WT mode, the positioning accuracy is improved by 66.85% compared to the LI-OC, and in BT mode, the improvement is 70.59% and 64.84% compared to LI-OC and TI-VB, respectively.