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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...

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Detalles Bibliográficos
Autores principales: Tang, Kanghua, Wang, Jinling, Li, Wanli, Wu, Wenqi
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Molecular Diversity Preservation International (MDPI) 2013
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.
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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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