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A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation
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 paramet...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Molecular Diversity Preservation International (MDPI)
2013
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3871116/ https://www.ncbi.nlm.nih.gov/pubmed/24169542 http://dx.doi.org/10.3390/s131114583 |
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author | Tang, Kanghua Wang, Jinling Li, Wanli Wu, Wenqi |
author_facet | Tang, Kanghua Wang, Jinling Li, Wanli Wu, Wenqi |
author_sort | Tang, Kanghua |
collection | PubMed |
description | 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. |
format | Online Article Text |
id | pubmed-3871116 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2013 |
publisher | Molecular Diversity Preservation International (MDPI) |
record_format | MEDLINE/PubMed |
spelling | pubmed-38711162013-12-26 A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation Tang, Kanghua Wang, Jinling Li, Wanli Wu, Wenqi Sensors (Basel) Article 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. Molecular Diversity Preservation International (MDPI) 2013-10-28 /pmc/articles/PMC3871116/ /pubmed/24169542 http://dx.doi.org/10.3390/s131114583 Text en © 2013 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/). |
spellingShingle | Article Tang, Kanghua Wang, Jinling Li, Wanli Wu, Wenqi A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation |
title | A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation |
title_full | A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation |
title_fullStr | A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation |
title_full_unstemmed | A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation |
title_short | A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation |
title_sort | novel ins and doppler sensors calibration method for long range underwater vehicle navigation |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3871116/ https://www.ncbi.nlm.nih.gov/pubmed/24169542 http://dx.doi.org/10.3390/s131114583 |
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