Online estimation of DVL misalignment angle in SINS/DVL integrated navigation system

Author

Zhaopeng, Lv ; Kanghua, Tang ; Meiping, Wu

Author_Institution

Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha, China

Volume

2

fYear

2011

Firstpage

336

Lastpage

339

Abstract

The misalignment angle between DVL and SINS is the key factor in determine the positioning accuracy of the SINS/DVL integrated navigation system. According to the problems appeared in practice, the error model of SINS was analyzed, and the DVL error model based on the misalignment angle online estimation was presented. The kalman filter technology is used to estimate the misalignment angle online in the integrated navigation process. The vessel test results show the variation of the stable estimation value is in the range of 0.1 degree, and the standard deviation is 0.067 degree, which meet the requirement. The navigation results attest the method can improve the positioning accuracy effectively, and prove the conclusion that the misalignment angle is a principal error source in the INS/DVL integrated navigation system.

Keywords

Kalman filters; error analysis; navigation; position measurement; DVL misalignment angle; SINS/DVL integrated navigation system; error model; kalman filter technology; online estimation; positioning accuracy; principal error source; Accuracy; Equations; Estimation; Kalman filters; Mathematical model; Navigation; Silicon compounds; SINS/DVL; error model; kalman filter; misalignment angle estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronic Measurement & Instruments (ICEMI), 2011 10th International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4244-8158-3

Type

conf

DOI

10.1109/ICEMI.2011.6037829

Filename

6037829