Abstract
Aiming to obtain higher navigation precision, this paper studied error sources of the acoustic Doppler Velocity Log (DVL) navigation system. Through analyzing the basic navigation equations of DVL, we knew that the acoustic navigating error was related to on-board attitude sensor error, velocity error and installation deviation error (array deviation angle and array eccentricity error). The author also derived the equations of random navigating errors and measure value errors, giving quantitative analysis of navigation error. Simulation shows the velocity error has more influence on the acoustic navigation error than others. The navigating precision can be promoted by increasing DVL precision, choosing high-precision attitude sensor and better installation error calibrating for acoustic array.
Published Version
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