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

Sensors

Kanghua Tang²  Jinling Wang¹  Wanli Li² 

[1] School of Civil and Environmental Engineering, University of New South Wales, Sydney, NSW 2052, Australia; E-Mail:;College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China; E-Mails:

关键词: inertial navigation system;    Doppler velocity log;    integrated navigation;    autonomous underwater vehicle;    parameters calibration;    iterative implementation;   

DOI  :  10.3390/s131114583

来源: mdpi

【 摘 要 】

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°/h(1σ) ring laser gyroscopes, 5 × 10⁻⁵ g(1σ) 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.

【 授权许可】

CC BY   
© 2013 by the authors; licensee MDPI, Basel, Switzerland.