On In Situ Calibration of SINS and Doppler Dead Reckoning Navigation System

Abstract:

This paper addresses a practical problem arising in the calibration of bottom-lock doppler velocity log for the navigation of surface ships. Firstly, a dead reckoning navigation algorithm and briefly error analyze are proposed. Then, employing ship’s true trajectory and calculated trajectory, the rotational alignment offset between a bottom-lock doppler velocity log and a strapdown inertial navigation system as well as the scale factor error of the doppler velocity log can be experimentally determined using sensors commonly deployed with a vehicle in the field. It requires velocity values from the vehicle's doppler log and strapdown inertial navigation system, and absolute vehicle position fixes from a GPS receiver. Lake experiment results show that the calibration algorithm can calibrate the error parameters effectively, thus the position error decreases significantly after compensating the error parameters.

• Periodical: Advanced Materials Research (Volumes 479-481)
• Pages: 2610-2615
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.479-481.2610
• Online since: February 2012
• Authors: Kai Yao, Qi Dan Zhu, Bo Zhang
• Keywords: Dead-Reckoning, Doppler Velocity Log, Strapdown Inertial Navigation System (SINS)

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