OPTICS & OPTOELECTRONIC TECHNOLOGY, Volume. 18, Issue 6, 106(2020)
Optimization Algorithm of DVL/INS Integrated Transfer Alignment Based on Velocity Plus Angular Rate Matching
Due to the obvious multipath effect and signal being easily-disturbed of GNSS, the velocity reference outputted by master inertial navigation system fails to be calibrated. For the unreliable master velocity observation, the Doppler velocity log (DVL) is supposed to be adopted to facilitate transfer alignment on the large shipborne trial platform. Given complex ocean condition in trial practice, velocity plus angular rate matching method and dynamic flexural lever arm model are used to build system error equations up, as well as the error of DVL is established under the local level frame. Simulation demonstrates that the alignment performance with DVL auxiliary is much more precise than that without assistance, while the alignment process is steady as well. Therefore, in the midst of cruise of marine vessels, DVL is an ideal auxiliary equipment in transfer alignment.
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CAI Ying-bo. Optimization Algorithm of DVL/INS Integrated Transfer Alignment Based on Velocity Plus Angular Rate Matching[J]. OPTICS & OPTOELECTRONIC TECHNOLOGY, 2020, 18(6): 106
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Received: Mar. 24, 2020
Accepted: --
Published Online: Aug. 23, 2021
The Author Email: Ying-bo CAI (cyb1967@163.com)
CSTR:32186.14.