Performance analysis of an inertial navigation algorithm with DVL auto-calibration for underwater vehicle

Author

Rossi, A. ; Pasquali, M. ; Pastore, M.

Author_Institution

Photonic Res. & Adv. Navig. Sci., GEM Elettron., San Benedetto del Tronto, Italy

fYear

2014

Firstpage

1

Lastpage

19

Abstract

Autonomy and high accuracy are fundamental for underwater navigation. For this reason, new inertial algorithms are under intensive investigation to improve the performances. In this paper, we present the INS/DVL calibration algorithm developed by GEM Elettronica for underwater applications. With this procedure, we improve the sensor data fusion between our unit, Doppler Velocity Log (DVL) and the GNSS receiver, moving along a well-defined trajectory. Acquired experimental data validate our simulation model, confirming our previously supposed results.

Keywords

Doppler measurement; Global Positioning System; calibration; inertial navigation; marine navigation; radio receivers; sensor fusion; underwater vehicles; DVL autocalibration algorithm; Doppler velocity log; GNSS receiver; inertial navigation algorithm; performance analysis; sensor data fusion; underwater navigation; underwater vehicle; Calibration; Data models; Global Positioning System; Inertial navigation; Sensors; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Inertial Sensors and Systems Symposium (ISS), 2014 DGON

Type

conf

DOI

10.1109/InertialSensors.2014.7049481

Filename

7049481