Research on Fast Calibration and Moving Base Alignment of SINS/DVL Integrated Navigation System

Aiming at the problems that the DVL calibration process in SINS/DVL integrated navigation is tedious and the measurement information is contaminated by outliers during the alignment of the moving base, we studied IABC fast calibration algorithm and MSTEKF alignment algorithm respectively. Firstly, we optimize the initial population using chaos strategy to improve the calibration accuracy of IABC and avoid the algorithm falling into local optimum. After the DVL calibration, we combined the M-estimation and STEKF to obtain MSTEKF, which was used to suppress the outlier interference in the alignment of the moving base. The experimental results show that IABC can effectively improve the DVL calibration accuracy, and the running speed of the algorithm is increased by about 41.47% compared with PSO. Compared with KF and SHAKF, MSTEKF can effectively suppress outlier interference, and the position alignment error is reduced by 90.00% and 61.31%, respectively.