提出由多普勒速度声纳、姿态测量组件和陀螺罗经组成导航系统 ,研究了速度解算和误差分析方法 ,给出了导航卡尔曼滤波算法 .

• The current navigation system is composed of Doppler velocity sonar (DVS), attitude measure instrument, and gyroscope compass. The method of calculating velocity measured by DVS was studied, the error of velocity was analyzed and the method of navigation algorithm of Kalman filter was provided.