A novel separation and calibration method for DVL and compass error in dead reckoning navigation systems

The scale factor error of the Doppler velocity log (DVL) and the heading angle error of a compass are so integrated in dead reckoning (DR) navigation systems that it is difficult to separate them. This paper aims to solve this problem by putting forward an online separation and calibration method for and based on an 'arc and linear' trajectory. This method introduces the high-accuracy location information of a long base line (LBL) acoustic positioning system. At first, the relationship between the displacements on the 'arc' trajectory in directions of east and north, output by the LBL and DR systems, serves to judge the carrier direction and calibrate . And then by compensating , the displacement on the 'linear' trajectory is used to calibrate . Finally, a semi-physical simulation experiment is conducted to test and verify this calibration method to see how effective and accurate it is. Experimental results show that after calibration the residual error ratios of and are 8.24% and 3.70% respectively. Therefore, online calibration of and is realized effectively. What's more, when the DR system is working alone in 400 s, this method reduces position error by up to 93.39%, from 18.91 m to 1.25 m.

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