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中文摘要：
以捷联惯性导航系统作为组合导航系统的主导航设备,地形匹配、多普勒测速仪等为辅助导航设备,分析了S1NS、DVL以及地形辅助导航系统等的工作原理并建立输出误差模型,利用联邦Kalman滤波技术对水下组合导航系统进行信息融合,建立了水下组合导航系统联邦滤波器的观测方程和量测方程,并进行计算机软件仿真实验。仿真结果表明：使用联邦卡尔曼滤波的水下组合导航系统导航状态输出精度满足水下航行器高精度高可靠性的要求。该水下组合导航系统能够得到较高精度的位置、速度和姿态信息,提高了水下航行器远距离长时间导航的精度。
英文摘要：
By taking Strapdown Inertial Navigation System（SINS） as main navigation system, and taking Terrian Matching Assistant Navigation, Doppler Velocity Sonar etc as navigation aids, the principles of SINS, DVL and Terrain Matching Assistant Navigation System were analyzed, and their respective output error models were built. The navigation information fusion was carried out through federated Kalman filter, and the mathematic model of filtering was set up. The simulation experiment demonstrates that the position accuracy satisfy the performance requirements for high accuracy and reliability. The precise information of this underwater integrated navigation system can prolong the underwater life time and distance.
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