As the traditional navigation system ca n ' t satisfy the requirements of the autonomous underwater vehicles ( auv ) navigation and position . we study a depthometer - doppler - aided strapdown inertial navigation system ( ddsins ) in combination of the developments of periodic navigation technique and some practical problem posed by the mathematical and variation of output data of doppler , furthermore , the digital simulation and semiphysica test are made to verify the validity of the algorithm , the main research work are as follows : design of the strapdown inertial navigation system of auv 由于傳統(tǒng)的導(dǎo)航系統(tǒng)很難滿足遠程水下航行器精確導(dǎo)航、定位的要求,本文在充分考慮使用特殊性的情況下,結(jié)合國內(nèi)、外導(dǎo)航技術(shù)發(fā)展的實際狀況和發(fā)展方向,研究了水下航行器組合導(dǎo)航系統(tǒng)的誤差,重點解決了因多普勒輸出數(shù)據(jù)周期長和周期時變而給導(dǎo)航計算和濾波器設(shè)計帶來的問題,并進行了仿真和實物測試,仿真和實物測試結(jié)果表明本文所研究的設(shè)計方案合理,可以達到某型水下航行器導(dǎo)航、定位需要的精度。