基于两点法的INS与DVL的标定

Calibration of Inertial Navigation System and Doppler Velocity Log Based on Two-point Method

多普勒计程仪(DVL)的刻度系数、DVL与惯性导航系统之间的安装误差角是影响组合导航精度的两个重要因数。针对以上问题,论文提出了基于两点的标定方法可对刻度系数和安装误差角进行标定,虽然在跑船标定试验过程中计程仪的刻度系数是有变化的,但在标定距离为6km左右即可得到较准确的估计值;同时试验表明相对于弯曲标定航路,直线标定航路中的安装误差角的估计更加准确,最后通过跑船试验验证了两点标定方法的可行性。

The calibration coefficient of DVL and the installation error angle between DVL and inertial navigation system are two important factors affecting the precision of integrated navigation.Aiming at the above problems this paper proposes a calibration method based on two points.Which can calibrate the calibration coefficient and installation error angle.Although the calibration co-efficient of DVL varies during the calibration test of running ship.It can get a more accurate estimate when the calibration distance is about 6km.At the same time,the experiment shows that the estimation of the installation error angle in the straight calibration route is more accurate than that in the curved calibration route.Finally,the feasibility of the two-point calibration method is verified by the ship running test.