A Novel Neural Network-Based SINS/DVL Integrated Navigation Approach to Deal with DVL Malfunction for Underwater Vehicles

Table 1

Specifications of the RDI workhorse navigator Doppler Velocity Log.

Parameter item	WHN 300	WHN 600	WHN 1200
Long-term accuracy	±0.4%V ± 0.2 cm/s	±0.2%V ± 0.1 cm/s	±0.2%V ± 0.1 cm/s
Operating rate	300 kHz	600 kHz	1200 kHz
Maximum range	200 m	90 m	25 m
Velocity range	±10 m/s	±10 m/s	±10 m/s