Online estimation of DVL misalignment angle in SINS/DVL integrated navigation system

摘要：

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.

关键词： SINS/DVL error model misalignment angle estimation kalman filter.

作者: Lv Zhaopeng Tang Kanghua Wu Meiping

作者单位: College of Mechatronics Engineering and Automation,National University of Defense Technology

会议类型: 国际会议

会议名称: 2011 10th International Conference on Electronic Measurement & Instruments(第十届电子测量与仪器国际会议 ICEMI2011)

会议地点: 成都

会议语种:英文

页码: 685-688

在线出版日期: 2011-08-16（万方平台首次上网日期，不代表论文的发表时间）