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.
On In Situ Calibration of SINS and Doppler Dead Reckoning Navigation System
Advanced Materials Research ; 479-481 ; 2610-2615
2012-02-27
6 pages
Article (Journal)
Electronic Resource
English
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