A correction method for DVL measurement error by pitch dynamics

As the error accumulation problem of Strapdown Inertial Navigation System (SINS), the accuracy of Doppler Velocity Log (DVL) measurements is a key element for the precision of SINS/DVL integrated navigation system. Nevertheless, level attitude dynamics of the vehicle (including pitch and roll motions) induced by random wave motions or vehicle's movement pattern changes introduce DVL measurement errors. In this paper, the error model of DVL measurement errors by pitch dynamics is established and the correction method based on the real-time attitude information from the SINS/DVL system is proposed. Simulation results indicate that the DVL measurement errors are effectively corrected and the accuracy of the SINS/DVL system is improved by applying the proposed method.