IEICE Electronics Express
Online ISSN : 1349-2543
ISSN-L : 1349-2543
A fast in-situ SINS and Doppler sensor calibration algorithm for underwater vehicle navigation
Li KangLingyun YeKaichen Song
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2014 Volume 11 Issue 23 Pages 20140994


This paper reports the development and experimental evaluation of an in-situ calibration algorithm of the misalignment mounting angle matrix between the Strapdown inertial navigation system (SINS) and Doppler sensor which are practically used for accurate underwater navigation. Most previously reported methods required the SINS to be aligned first to output accurate attitude before the calibration. By separately treating the body frame and the navigation frame attitude update, the algorithm in this paper could be simultaneously carried out during the SINS attitude alignment stage. Simulation and experiment results show that the calibration could be done in 300 s and the position error during the navigation is less than 0.8% of the voyage distance.

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© 2014 by The Institute of Electronics, Information and Communication Engineers
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