Inertial navigation system/doppler velocity log (INS/DVL) fusion with partial dvl measurements

Asaf Tal, Itzik Klein, Reuven Katz

Research output: Contribution to journalComment/Debate


The Technion autonomous underwater vehicle (TAUV) is an ongoing project aiming to develop and produce a small AUV to carry on research missions, including payload dropping, and to demonstrate acoustic communication. Its navigation system is based on an inertial navigation system (INS) aided by a Doppler velocity log (DVL), magnetometer, and pressure sensor (PS). In many INSs, such as the one used in TAUV, only the velocity vector (provided by the DVL) can be used for aiding the INS, i.e., enabling only a loosely coupled integration approach. In cases of partial DVL measurements, such as failure to maintain bottom lock, the DVL cannot estimate the vehicle velocity. Thus, in partial DVL situations no velocity data can be integrated into the TAUV INS, and as a result its navigation solution will drift in time. To circumvent that problem, we propose a DVL-based vehicle velocity solution using the measured partial raw data of the DVL and additional information, thereby deriving an extended loosely coupled (ELC) approach. The implementation of the ELC approach requires only software modification. In addition, we present the TAUV six degrees of freedom (6DOF) simulation that includes all functional subsystems. Using this simulation, the proposed approach is evaluated and the benefit of using it is shown.

Original languageEnglish
Article number415
Issue number2
StatePublished - 22 Feb 2017
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2017 by the authors. Licensee MDPI, Basel, Switzerland.


  • Autonomous underwater vehicle six degrees of freedom (AUV 6DOF) simulation
  • Doppler velocity log/inertial navigation system (DVL/INS) fusion
  • Loosely coupled
  • Partial measurement
  • Tightly coupled

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering


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