A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation

作者：Tang, Kanghua^*; Wang, Jinling; Li, Wanli; Wu, Wenqi

来源：Sensors (Switzerland), 2013, 13(11): 14583-14600.

DOI：10.3390/s131114583

• inertial navigation system
• Doppler velocity log
• integrated navigation
• autonomous underwater vehicle
• parameters calibration
• iterative implementation

Since the drifts of Inertial Navigation System (INS) solutions are inevitable and also grow over time, a Doppler Velocity Log (DVL) is used to aid the INS to restrain its error growth. Therefore, INS/DVL integration is a common approach for Autonomous Underwater Vehicle (AUV) navigation. The parameters including the scale factor of DVL and misalignments between INS and DVL are key factors which limit the accuracy of the INS/DVL integration. In this paper, a novel parameter calibration method is proposed. An iterative implementation of the method is designed to reduce the error caused by INS initial alignment. Furthermore, a simplified INS/DVL integration scheme is employed. The proposed method is evaluated with both river trial and sea trial data sets. Using 0.03 degrees/h(1 sigma) ring laser gyroscopes, 5 x 10(-5) g(1 sigma) quartz accelerometers and DVL with accuracy 0.5% V +/- 0.5 cm/s, INS/DVL integrated navigation can reach an accuracy of about 1% of distance travelled (CEP) in a river trial and 2% of distance travelled (CEP) in a sea trial.

• 出版日期2013-11
• 单位中国人民解放军国防科学技术大学