A DVL Measurement Correction Method In High Dynamic Environment And Its Application For SINS/DVL Integrated Navigation

被引：0
|
作者：
Xu, Bo [1 ]
Guo, Yu [1 ]
Wang, Xiaoyu [1 ]
机构：
[1] Harbin Engn Univ, Engn Res Ctr Nav Instruments, Minist Educ, Coll Intelligent Syst Sci & Engn, Harbin, Peoples R China
来源：
OCEANS 2024 - SINGAPORE | 2024年
关键词：
Integrated navigation; SINS/DVL; high dynamic environment; DVL error correction;
D O I：
10.1109/OCEANS51537.2024.10682137
中图分类号：
P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
Aiming at the degradation of strapdown inertial navigation system (SINS)/ Doppler velocity log (DVL) integrated navigation accuracy under high maneuvering conditions, a new SINS/DVL tightly integrated navigation algorithm for high dynamic environment is proposed. Firstly, based on the DVL measurement principle, the relationship between DVL frequency shift and AUV instantaneous velocity is constructed. The SINS high precision measurement information in short time are utilized to compensate for the motion changes. And a new DVL measurement error correct method is obtained. Then, the SINS/DVL tightly integrated navigation framework is redesigned based on the proposed error compensation method under high dynamic environment. The simulation and sea trial are conducted to verify the effectiveness of the proposed algorithm.
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页数：7
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