Title :
Research on the error model of INS/DVL system for Autonomous Underwater Vehicle
Author :
Hou, Shuping ; Peng, Shuping ; Yan, Zheping ; Zhang, Wei
Author_Institution :
Coll. of Mech. & Electron., Harbin Eng. Univ., Harbin
Abstract :
The paper studies a method in order to promote the accuracy of the control and simulation system of AUV (autonomous underwater vehicle) under the help of the error models of INS (inertia navigation system)/DVL (Doppler velocimeter log) integrated navigation system. Time series models are given in this paper, which describe the longitude error and latitude error of the INS/DVL integrated navigation system in AUV. The models have been tested and prove to be effective in error prediction and fitting. They are applied to the AUV simulation system to ameliorate the control arithmetic, which show a good effect on improving the control precision of the simulation systems of AUV.
Keywords :
Doppler effect; autoregressive moving average processes; inertial navigation; time series; underwater vehicles; AUV simulation system; Doppler velocimeter log; INS/DVL system; autonomous underwater vehicle; control arithmetic; error model; error prediction; inertia navigation system; integrated navigation system; latitude error; longitude error; time series models; Arithmetic; Automation; Autoregressive processes; Educational institutions; Electric shock; Error correction; Navigation; Stability; Stochastic resonance; Underwater vehicles; ARMA Model; Autonomous Underwater Vehicle; Difference; Integrated Navigation;
Conference_Titel :
Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on
Conference_Location :
Qingdao
Print_ISBN :
978-1-4244-2502-0
Electronic_ISBN :
978-1-4244-2503-7
DOI :
10.1109/ICAL.2008.4636146
