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A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation
College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China
School of Civil and Environmental Engineering, University of New South Wales, Sydney, NSW 2052, Australia
* Author to whom correspondence should be addressed.
Received: 10 August 2013; in revised form: 11 September 2013 / Accepted: 17 October 2013 / Published: 28 October 2013
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 × 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.
Keywords: inertial navigation system; Doppler velocity log; integrated navigation; autonomous underwater vehicle; parameters calibration; iterative implementation
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MDPI and ACS Style
Tang, K.; Wang, J.; Li, W.; Wu, W. A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation. Sensors 2013, 13, 14583-14600.
Tang K, Wang J, Li W, Wu W. A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation. Sensors. 2013; 13(11):14583-14600.
Tang, Kanghua; Wang, Jinling; Li, Wanli; Wu, Wenqi. 2013. "A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation." Sensors 13, no. 11: 14583-14600.