A fast in-situ SINS and Doppler sensor calibration algorithm for underwater vehicle navigation

IEICE Electronics Express

Kaichen Song¹  Li Kang¹  Lingyun Ye¹ 

[1] College of Biomedical Engineering & Instrument Science, Zhejiang University

关键词: Doppler navigation;    inertial navigation;    calibration algorithm;    attitude update;   

DOI  :  10.1587/elex.11.20140994

学科分类：电子、光学、磁材料

来源: Denshi Jouhou Tsuushin Gakkai

【 摘 要 】

References(17)This paper reports the development and experimental evaluation of an in-situ calibration algorithm of the misalignment mounting angle matrix between the Strapdown inertial navigation system (SINS) and Doppler sensor which are practically used for accurate underwater navigation. Most previously reported methods required the SINS to be aligned first to output accurate attitude before the calibration. By separately treating the body frame and the navigation frame attitude update, the algorithm in this paper could be simultaneously carried out during the SINS attitude alignment stage. Simulation and experiment results show that the calibration could be done in 300 s and the position error during the navigation is less than 0.8% of the voyage distance.

【 授权许可】

Unknown