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In-motion coarse alignment method for SINS/DVL with the attitude dynamics.

Yiqing Yao1, Xiaosu Xu1, Yongyun Zhu1

  • 1School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China; Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing, 210096, China.

ISA Transactions
|June 2, 2020
PubMed
Summary

This study introduces a new method to improve coarse alignment for underwater Strapdown Inertial Navigation Systems (SINS) integrated with Doppler Velocity Logs (DVL). The enhanced solution compensates for DVL velocity errors, accelerating alignment during motion.

Keywords:
Attitude dynamicsDVL velocity measurementIn-motion coarse alignmentSINS/DVL integrated navigation system

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Area of Science:

  • Navigation Systems Engineering
  • Marine Technology
  • Robotics and Autonomous Systems

Background:

  • Underwater Strapdown Inertial Navigation Systems (SINS) integrated with Doppler Velocity Logs (DVL) face velocity errors due to transmission/reception intervals, especially during attitude dynamics.
  • These errors hinder the accuracy and speed of the coarse alignment process, crucial for system initialization.

Purpose of the Study:

  • To accelerate the coarse alignment process for SINS/DVL systems experiencing attitude dynamics.
  • To propose an improved in-motion coarse alignment solution that mitigates DVL-induced velocity errors.

Main Methods:

  • Exploration of a DVL-aided in-motion coarse alignment method.
  • Development and application of a DVL velocity compensation algorithm specifically for coarse alignment.
  • Evaluation through simulations and a field test across diverse trajectories.

Main Results:

  • The proposed coarse alignment solution effectively implements the velocity compensation algorithm.
  • Demonstrated superior performance compared to traditional optimization-based alignment (OBA) methods.
  • Validation of effectiveness across various dynamic trajectories.

Conclusions:

  • The developed velocity compensation algorithm significantly enhances the coarse alignment of SINS/DVL systems.
  • The improved method offers a more robust and efficient solution for underwater navigation initialization, particularly under dynamic conditions.