An On-Line Full-Parameters Calibration Method for SINS/DVL Integrated Navigation System

In this article, an on-line calibration method for strap-down inertial navigation system (SINS)/Doppler velocity log (DVL) based integrated navigation system is proposed to jointly estimate the calibration parameters of SINS and DVL, where the DVL lever arm and gyroscope scale factor error are considered. The full-parameters, including the gyroscope scale factor error, gyroscope bias, accelerometer bias, DVL installation misalignment angle, and DVL lever arm, are modeled as calibration parameters. A new state–space model for on-line calibration of SINS/DVL integrated navigation system is established, which also introduces the measurements of the global navigation satellite system (GNSS) and celestial navigation system (CNS) to improve the observability of calibration parameters. To suppress the effects of nonlinear error introduced by large installation error between SINS and DVL, a full-parameters feedback correction scheme is proposed. In addition, a special trajectory for the proposed on-line calibration method is designed based on the observability analysis results and the actual motion conditions of the ship, which ensures those calibration parameters in the calibration model can be observed. Simulation results and semi-physical simulation results illustrate that the proposed on-line calibration method can achieve better calibration results than existing methods compared in this article, and the full-parameters can be jointly calibrated online, even in the case of large installation errors between SINS and DVL.