Research on Error Correction Technology in Underwater SINS/DVL Integrated Positioning and Navigation

Jian Li; Mingyu Gu; Tianlong Zhu; Zexi Wang; Zhen Zhang; Guangjie Han

doi:10.3390/s23104700

Research on Error Correction Technology in Underwater SINS/DVL Integrated Positioning and Navigation

Sensors (Basel). 2023 May 12;23(10):4700. doi: 10.3390/s23104700.

Authors

Jian Li^{1

2}, Mingyu Gu¹, Tianlong Zhu¹, Zexi Wang¹, Zhen Zhang¹, Guangjie Han¹

Affiliations

¹ College of Internet of Things Engineering, Hohai University, Changzhou 213001, China.
² Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin 150001, China.

Abstract

Underwater vehicles are key carriers for underwater inspection and operation tasks, and the successful implementation of these tasks depends on the positioning and navigation equipment with corresponding accuracy. In practice, multiple positioning and navigation devices are often combined to integrate the advantages of each equipment. Currently, the most common method for integrated navigation is combination of the Strapdown Inertial Navigation System (SINS) and Doppler Velocity Log (DVL). Various errors will occur when SINS and DVL are combined together, such as installation declination. In addition, DVL itself also has errors in the measurement of speed. These errors will affect the final accuracy of the combined positioning and navigation system. Therefore, error correction technology has great significance for underwater inspection and operation tasks. This paper takes the SINS/DVL integrated positioning and navigation system as the research object and deeply studies the DVL error correction technology in the integrated system.

Keywords: Doppler velocity log; error correction; integrated positioning and navigation system; strapdown inertial navigation system.

Grants and funding

This work is supported by the National key R&D Program [2022YFB4703403], the NSF of China (Grant No.12274113), and in part by the Research Fund from Science and Technology on Underwater Vehicle Technology Laboratory (No.6142215200102).