{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,17]],"date-time":"2025-11-17T21:38:09Z","timestamp":1763415489189,"version":"build-2065373602"},"reference-count":28,"publisher":"MDPI AG","issue":"20","license":[{"start":{"date-parts":[[2019,10,21]],"date-time":"2019-10-21T00:00:00Z","timestamp":1571616000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Because of the complex task environment, long working distance, and random drift of the gyro, the positioning error gradually diverges with time in the design of a strapdown inertial navigation system (SINS)\/Doppler velocity log (DVL) integrated positioning system. The use of velocity information in the DVL system cannot completely suppress the divergence of the SINS navigation error, which will result in low positioning accuracy and instability. To address this problem, this paper proposes a SINS\/DVL integrated positioning system based on a filtering gain compensation adaptive filtering technology that considers the source of error in SINS and the mechanism that influences the positioning results. In the integrated positioning system, an organic combination of a filtering gain compensation adaptive filter and a filtering gain compensation strong tracking filter is explored to fuse position information to obtain higher accuracy and a more stable positioning result. Firstly, the system selects the indirect filtering method and uses the integrated positioning error to model the navigation parameters of the system. Then, a filtering gain compensation adaptive filtering method is developed by using the filtering gain compensation algorithm based on the error statistics of the positioning parameters. The positioning parameters of the system are filtered and information on errors in the navigation parameters is obtained. Finally, integrated with the positioning parameter error information, the positioning parameters of the system are solved, and high-precision positioning results are obtained to accurately position autonomous underwater vehicles (AUVs). The simulation results show that the SINS\/DVL integrated positioning method, based on the filtering gain compensation adaptive filtering technology, can effectively enhance the positioning accuracy.<\/jats:p>","DOI":"10.3390\/s19204576","type":"journal-article","created":{"date-parts":[[2019,10,21]],"date-time":"2019-10-21T11:37:55Z","timestamp":1571657875000},"page":"4576","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["A SINS\/DVL Integrated Positioning System through Filtering Gain Compensation Adaptive Filtering"],"prefix":"10.3390","volume":"19","author":[{"given":"Xiaozhen","family":"Yan","sequence":"first","affiliation":[{"name":"School of Information Science and Engineering, Harbin Institute of Technology, Weihai 264209, China"},{"name":"Shandong Institute of Shipbuilding Technology, Weihai 264209, China"},{"name":"Guangxi Key Laboratory of Automatic Detecting Technology and Instruments, Guilin University of Electronic Technology, Guilin 541004, China"}]},{"given":"Yipeng","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Harbin Institute of Technology, Weihai 264209, China"},{"name":"The 712th Institute of China Shipbuilding Industry Corporation, Wuhan 430064, China"}]},{"given":"Qinghua","family":"Luo","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Harbin Institute of Technology, Weihai 264209, China"},{"name":"Shandong Institute of Shipbuilding Technology, Weihai 264209, China"},{"name":"Guangxi Key Laboratory of Automatic Detecting Technology and Instruments, Guilin University of Electronic Technology, Guilin 541004, China"}]},{"given":"Yunsai","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Technology, China National Deep Sea Center, Qingdao 266237, China"}]},{"given":"Cong","family":"Hu","sequence":"additional","affiliation":[{"name":"Guangxi Key Laboratory of Automatic Detecting Technology and Instruments, Guilin University of Electronic Technology, Guilin 541004, China"}]}],"member":"1968","published-online":{"date-parts":[[2019,10,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Yang, Y.P., Yan, X.Z., and Luo, Q.H. 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