A Calibration Method of DVL Based on Truncated Total Least Squares

In view of the fact that the traditional least squares calibration method of doppler velocity log (DVL) lacks the ability to deal with the ill-posed problem of the measurement equation and the random errors at both ends of the measurement equation, this paper extends the total least squares method and combines the truncated singular value decomposition method to propose a truncated total least squares DVL calibration method. The proposed method can obtain more stable and accurate calibration parameters by dealing with the errors at both ends of the measurement equation and suppressing the ill-posed problem of the measurement equation during the DVL calibration. Simulation outcomes indicate that the installation error angles for the x-axis and z-axis obtained through the truncated total least squares method introduced in this study are more aligned with the true values when contrasted with those derived from the conventional least squares approach. Through the actual sea trial, the applicability and superiority of this method are further proved.