Calibration method of DVL based on position observation information

Ge Zhang,Guoxing Yi,Yangguang Xie, Shang Wang,Zhennan Wei

MEASUREMENT(2024)

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摘要
The accuracy of underwater navigation is significantly impacted by the scale factor error and misalignment angle of the Doppler Velocity Log (DVL). A DVL calibration method based on position observation information is proposed as a solution to the integrated navigation system composed of compass, DVL, ultra -short baseline acoustic positioning system, and depth sensor. A transfer model from DVL error parameters to the positioning error of Dead Reckoning (DR) is established. Based on this model, dual -loop Kalman filter (KF)-based and particle swarm optimization (PSO)-based DVL error parameter estimation algorithms are proposed. Compared with classical methods, the proposed methods achieve high -precision DVL calibration in deep -water environments at a lower cost. Simulation and sea trials show that both proposed algorithms exhibit excellent stability, consistency, and accuracy. After calibration, the positioning errors of DR have decreased from 1.56% to 0.28% and 0.23% of the voyage, respectively.
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关键词
Integrated navigation,Doppler velocity log (DVL),Calibration,Kalman filter (KF),Particle swarm optimization (PSO)
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