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- Title
A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation.
- Authors
Kanghua Tang; Jinling Wang; Wanli Li; Wenqi Wu
- Abstract
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 x 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.
- Subjects
INERTIAL navigation systems; NAUTICAL instruments; AUTONOMOUS underwater vehicles; CALIBRATION; GYROSCOPES
- Publication
Sensors (14248220), 2013, Vol 13, Issue 11, p14583
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s131114583