中文摘要：

为了提高水下航行器组合导航定位的精度，采用SINS（捷联式惯性导航系统）、DVS（多普勒速度声纳）、TCM2电子磁罗经和GPS浮标组成新型水下航行器组合导航系统，分析了SINS、DVS、TCM2电子磁罗经和GPS浮标的工作原理以及建立了各自输出误差模型，利用联邦Kalman滤波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，并进行了计算机软件仿真实验。仿真实验表明：使用联邦卡尔曼滤波的水下组合导航信息融合技术导航输出精度满足水下航行器高精度高可靠性的性能指标。采用了SINS，DVS，TCM2，GPS浮标以及联邦卡尔曼滤波的水下组合导航系统可以有效地提高水下航行器组合导航定位的精度和可靠性，从而增长了水下航行器水下作业时间以及提高了水下航行器的水下导航定位性能。

英文摘要：

To improve the AUV（Autonomous Underwater Vehicle） navigation accuracy, a novel underwater navigation system was designed which integrated SINS, DVS （Doppler Velocity Sonar）, TCM2 magnetic compass and GPS buoy, The principles of SINS, DVS, TCM2, and GPS buoy were analyzed, and their respective mathematic models were built, Navigation information fusion was carried out through Federated Kalman filter, the mathematic model of the filtering was set up, and the simulation experiments were carried out. The simulation experiments demonstrate that the position accuracy satisfy the performance requirements for high accuracy and reliability. This underwater integrated navigation system effectively improves the navigation accuracy and reliability of AUV, hence prolongs the underwater life time and improves the AUV navigation performance.