Abstract: The traditional north-pointing inertial navigation mechanics arrangement of inertial navigation system is not suitable for using in the polar region due to the rapid convergence of geographical longitude at high latitudes so the establishment of the heading relative to the longitude is more and more difficult, and the singular value in geographic poles exists. Focusing on the above problem and the autonomy and navigation accuracy requirements of autonomous underwater vehicle (AUV) during navigation, a SINS/DVL integrated navigation scheme based on transversal frame in polar region is proposed. The definition of the transverse earth/geographic coordinate frame and its conversion with conventional navigation frame are presented. The mechanizations of inertial navigation based on transversal frame in polar region are derived by analogy with the traditional north-pointing navigation mechanizations. A SINS/DVL integrated navigation algorithm based on Kalman filter in polar region is designed. The simulation is carried out to analyze the proposed integrated navigation system. The results indicate that the navigation method can restrain effectively the increase in azimuth misalignment angle, and the navigation accuracy can satisfy the navigation requirement of AUV in polar region.

Key words: control science and technology, integrated navigation, polar region, transversal frame, strapdown inertial navigation system