A novel in-motion initial alignment method for SINS assisted by DVL

Juan Li; Ziheng Chen; Wenjing Ding

doi:10.1117/12.3055578

12 December 2024 A novel in-motion initial alignment method for SINS assisted by DVL

Juan Li, Ziheng Chen, Wenjing Ding

Proceedings Volume 13439, Fourth International Conference on Testing Technology and Automation Engineering (TTAE 2024); 134392U (2024) https://doi.org/10.1117/12.3055578
Event: Fourth International Conference on Testing Technology and Automation Engineering (TTAE 2024), 2024, Xiamen, China

Abstract

The in-motion initial alignment of the strapdown inertial navigation system (SINS) assisted by the Doppler Velocity Log (DVL) plays a significant role in the efficient operation of the autonomous underwater vehicle (AUV). In the case of severe maneuvering or low accuracy of inertial sensors, the output error of the gyroscope gradually increases, which leads to a decrease in the initial alignment accuracy of the inertial navigation system. In this paper, an in-motion alignment method for DVL-assisted SINS is proposed, which eliminates the effect of attitude matrix variations on the observation noise by establishing an accurate filtering model for the constructed inertial vectors. Experimental results verify that the proposed algorithm can accurately estimate the attitude matrix, and the initial alignment accuracy is improved as compared with existing algorithms.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Juan Li, Ziheng Chen, and Wenjing Ding "A novel in-motion initial alignment method for SINS assisted by DVL", Proc. SPIE 13439, Fourth International Conference on Testing Technology and Automation Engineering (TTAE 2024), 134392U (12 December 2024); https://doi.org/10.1117/12.3055578

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