DVL installation angle estimation and application in underwater integrated navigation system

It is crucial for INS/DVL integrated systems to precisely evaluate the installation relationship between DVL and INS.An online iterative and recursive method was presented based on the estimation of space-state variables.The obervabilities of these variables were analyzed.The conditions to achieve fully observable were discussed,and the maneuver manners of the ship was given.An estimation filter was designed and put into practical shipboard experiment.The experiment results prove that the estimation error is less than 0.1° after 2 iterations when installation angle error is less than 10°,which meet the requirement.This method can substitute manual optical calibration,and is valuable in engineering application.