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.
Highlights
Autonomous Underwater Vehicles (AUV) present a uniquely challenging navigational problem because they operate autonomously in a highly unstructured environment [1]
Because the scale factor error of Doppler Velocity Log (DVL) and the misalignments between Inertial Navigation System (INS) and DVL are the key factors which limit the accuracy of INS/DVL integration, calibration and compensation of these parameters must be done before a mission is conducted
The scale factor error and the misalignments can be chosen as the Kalman filter states for the INS/DVL integrated navigation system and estimated on line, it should be noted from the observability analysis that not all of the states are observable under that sailing condition [25,26,27,28,29]
Summary
Autonomous Underwater Vehicles (AUV) present a uniquely challenging navigational problem because they operate autonomously in a highly unstructured environment [1]. Because the scale factor error of DVL and the misalignments between INS and DVL are the key factors which limit the accuracy of INS/DVL integration, calibration and compensation of these parameters must be done before a mission is conducted. In [2,22,23], James and his colleagues improved the calibration method, with precise position of acoustic navigation sensors such as LBL, three dimensional misalignments between INS and DVL can be estimated simultaneously. This method is difficult to implement that it might cause some inconvenience for real applications.
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