An approach of DVL-aided SDINS alignment for in-motion vessel |
| |
Authors: | Yi Zhang |
| |
Affiliation: | Beijing Aerospace Automatic Control Institute, National Aerospace Intelligence Control Technology Laboratory, No. 50, Yongding Road, Beijing 100854, China |
| |
Abstract: | An in-motion alignment algorithm of strapdown inertial navigation system (SDINS) aided by Doppler velocity log (DVL) is described. As the bias and scale factor errors of DVL cannot be estimated by using conventional algorithm, error model of DVL along axes on local level navigation frame is developed while the ship is sailing at a constant speed. Analysis shows that by using this error model in Kalman filter, the observability of state variable can be improved by the angular motion of the ship. Simulation results show that the DVL measurement error can be estimated precisely and the accuracy of the DVL-aided in-sail alignment can be enhanced greatly by using the proposed approach. |
| |
Keywords: | Doppler velocity log In-motion alignment Inertial navigation system Observability |
本文献已被 ScienceDirect 等数据库收录! |
|