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

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.