A GNSS-aided DVL calibration method based on quaternion estimation for underwater vehicles

Doppler velocity logger (DVL) error parameters can significantly influence the navigation accuracy of DVL/strapdown inertial navigation system (SINS) integration for unmanned underwater vehicles (UUV). To improve the navigation accuracy of UUV, this study proposes a two-stage DVL calibration method...

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Bibliographic Details
Published inMarine geodesy Vol. 46; no. 5; pp. 403 - 425
Main Authors Jin, Kaidi, Chai, Hongzhou, Su, Chuhan, Xiang, Minzhi, Shi, Mingchen
Format Journal Article
LanguageEnglish
Published Philadelphia Taylor & Francis 03.09.2023
Taylor & Francis Ltd
Subjects
Accuracy
Algorithms
Autonomous underwater vehicles
Calibration
Doppler sonar
DVL/SINS integration
error calibration
Errors
Global navigation satellite system
Inertial navigation
integrated navigation
Navigation
Navigation satellites
Navigation systems
Navigational satellites
Optimization
Parameters
quaternion estimation
Quaternions
Sea trials
Strapdown inertial navigation
Underwater vehicles
unmanned underwater vehicle
Unmanned underwater vehicles
Velocity
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Summary:Doppler velocity logger (DVL) error parameters can significantly influence the navigation accuracy of DVL/strapdown inertial navigation system (SINS) integration for unmanned underwater vehicles (UUV). To improve the navigation accuracy of UUV, this study proposes a two-stage DVL calibration method aided by global navigation satellite system (GNSS) measurements. First, utilizing the velocity of GNSS/SINS integrated navigation, the scale factor error of DVL is calculated by the moduli of velocities in UUV body frame and DVL instrument frame. Then, using the measurements throughout the calibration process, the calibration problem of the installation angle is converted to a nonlinear constraint optimization problem by describing the angle as a unit quaternion. Moreover, an easy-to-implement quaternion estimation algorithm is chosen to solve the problem and obtain the optimal quaternion. Simulation and sea trial indicate that the proposed method can rapidly and accurately estimate the DVL error parameters in different scenarios, and the position accuracy of the DVL/SINS system is improved.
ISSN:0149-0419
1521-060X
DOI:10.1080/01490419.2023.2213838