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.
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