Abstract:
The calibration quality of the Doppler velocity log (DVL) significantly impacts the performance of the strap-down inertial navigation system (SINS)/ DVL-integrated naviga...Show MoreMetadata
Abstract:
The calibration quality of the Doppler velocity log (DVL) significantly impacts the performance of the strap-down inertial navigation system (SINS)/ DVL-integrated navigation system. Optimizer-based calibration algorithms consider the installation misalignment angle and scale factor error as optimization objectives, thus simplifying the calibration process into an optimizer problem. However, optimizer-based calibration under large installation misalignment angle suffers from slow convergence speed and local optima issues problems. To address these challenges, this article proposes a novel calibration algorithm for estimating installation misalignment angle and scale factor error between SINS and DVL sensors based on an improved dung beetle optimizer (DBO). A novel multistrategy integration is designed in the dung beetle optimizer algorithm to balance the exploration and exploitation during optimization. Due to fast and accurate optimization, this calibration algorithm streamlines calibration times and removes the necessity for specialized vehicle operations. Both simulation and sea trials demonstrate the capability of the algorithm to rapidly and accurately estimate scale factor error and misalignment angle, thereby significantly improving navigation accuracy.
Published in: IEEE Transactions on Instrumentation and Measurement ( Volume: 74)
Funding Agency:
College of Intelligent System Science and Engineering and the Engineering Research Center of Navigation Instruments, Ministry of Education, Harbin Engineering University, Harbin, China
Yuxin Zhao (Senior Member, IEEE) received the Ph.D. degree in navigation, guidance, and control from Harbin Engineering University (HEU), Harbin, China, in 2005.
He was a Post-Doctoral Research in control science and engineering at Harbin Institute of Technology, Harbin, in 2008. From 2012 to 2013, he visited the Centre for Transport Studies, Imperial College London, London, U.K., as a Research Scholar. He is currently a P...Show More
Yuxin Zhao (Senior Member, IEEE) received the Ph.D. degree in navigation, guidance, and control from Harbin Engineering University (HEU), Harbin, China, in 2005.
He was a Post-Doctoral Research in control science and engineering at Harbin Institute of Technology, Harbin, in 2008. From 2012 to 2013, he visited the Centre for Transport Studies, Imperial College London, London, U.K., as a Research Scholar. He is currently a P...View more
College of Intelligent System Science and Engineering and the Engineering Research Center of Navigation Instruments, Ministry of Education, Harbin Engineering University, Harbin, China
Shuaiyang Li received the bachelor’s degree in measurement and control technology and instrument from the College of Automation, Harbin Engineering University (HEU), Harbin, China, in 2018, where he is currently pursuing the Ph.D. degree in control science and engineering with the College of Intelligent Systems Science and Engineering.
His research interests include inertial-based integrated navigation.
Shuaiyang Li received the bachelor’s degree in measurement and control technology and instrument from the College of Automation, Harbin Engineering University (HEU), Harbin, China, in 2018, where he is currently pursuing the Ph.D. degree in control science and engineering with the College of Intelligent Systems Science and Engineering.
His research interests include inertial-based integrated navigation.View more
College of Intelligent System Science and Engineering and the Engineering Research Center of Navigation Instruments, Ministry of Education, Harbin Engineering University, Harbin, China
Yueyang Ben was born in Shenyang, China, in 1981. He received the Ph.D. degree in precision instruments and technology from Harbin Engineering University, Harbin, China, in 2008.
Since 2005, he has participated in the development of a fiber-gyro strapdown INS for nautical navigation. He is a Professor with the College of Intelligent Systems Science and Engineering, Harbin Engineering University. His research interests incl...Show More
Yueyang Ben was born in Shenyang, China, in 1981. He received the Ph.D. degree in precision instruments and technology from Harbin Engineering University, Harbin, China, in 2008.
Since 2005, he has participated in the development of a fiber-gyro strapdown INS for nautical navigation. He is a Professor with the College of Intelligent Systems Science and Engineering, Harbin Engineering University. His research interests incl...View more
College of Intelligent System Science and Engineering and the Engineering Research Center of Navigation Instruments, Ministry of Education, Harbin Engineering University, Harbin, China
Yang Chen received the bachelor’s degree in automation from the College of Automation, Harbin Engineering University (HEU), Harbin, China, in 2018, where she is currently pursuing the Ph.D. degree with the College of Intelligent Systems Science and Engineering.
From 2022 to 2023, she was a Visiting Scholar with the Department of Electrical and Computer Engineering, Aarhus University (AU), Aarhus, Denmark. Her research inte...Show More
Yang Chen received the bachelor’s degree in automation from the College of Automation, Harbin Engineering University (HEU), Harbin, China, in 2018, where she is currently pursuing the Ph.D. degree with the College of Intelligent Systems Science and Engineering.
From 2022 to 2023, she was a Visiting Scholar with the Department of Electrical and Computer Engineering, Aarhus University (AU), Aarhus, Denmark. Her research inte...View more
Contents College of Intelligent System Science and Engineering and the Engineering Research Center of Navigation Instruments, Ministry of Education, Harbin Engineering University, Harbin, China
Yuxin Zhao (Senior Member, IEEE) received the Ph.D. degree in navigation, guidance, and control from Harbin Engineering University (HEU), Harbin, China, in 2005.
He was a Post-Doctoral Research in control science and engineering at Harbin Institute of Technology, Harbin, in 2008. From 2012 to 2013, he visited the Centre for Transport Studies, Imperial College London, London, U.K., as a Research Scholar. He is currently a Professor with the College of Intelligent System Science and Engineering, HEU. He has published more than 100 papers, including more than 50 international journal articles. His research interests include artificial intelligence, filtering theory, marine navigation systems, and intelligent transportation systems.
Dr. Zhao has served on the academic communities in various capacities, including a fellow for IET, a member for the Royal Institute of Navigation, and a fellow for China Navigation Institute.
Yuxin Zhao (Senior Member, IEEE) received the Ph.D. degree in navigation, guidance, and control from Harbin Engineering University (HEU), Harbin, China, in 2005.
He was a Post-Doctoral Research in control science and engineering at Harbin Institute of Technology, Harbin, in 2008. From 2012 to 2013, he visited the Centre for Transport Studies, Imperial College London, London, U.K., as a Research Scholar. He is currently a Professor with the College of Intelligent System Science and Engineering, HEU. He has published more than 100 papers, including more than 50 international journal articles. His research interests include artificial intelligence, filtering theory, marine navigation systems, and intelligent transportation systems.
Dr. Zhao has served on the academic communities in various capacities, including a fellow for IET, a member for the Royal Institute of Navigation, and a fellow for China Navigation Institute.View more
College of Intelligent System Science and Engineering and the Engineering Research Center of Navigation Instruments, Ministry of Education, Harbin Engineering University, Harbin, China
Shuaiyang Li received the bachelor’s degree in measurement and control technology and instrument from the College of Automation, Harbin Engineering University (HEU), Harbin, China, in 2018, where he is currently pursuing the Ph.D. degree in control science and engineering with the College of Intelligent Systems Science and Engineering.
His research interests include inertial-based integrated navigation.
Shuaiyang Li received the bachelor’s degree in measurement and control technology and instrument from the College of Automation, Harbin Engineering University (HEU), Harbin, China, in 2018, where he is currently pursuing the Ph.D. degree in control science and engineering with the College of Intelligent Systems Science and Engineering.
His research interests include inertial-based integrated navigation.View more
College of Intelligent System Science and Engineering and the Engineering Research Center of Navigation Instruments, Ministry of Education, Harbin Engineering University, Harbin, China
Yueyang Ben was born in Shenyang, China, in 1981. He received the Ph.D. degree in precision instruments and technology from Harbin Engineering University, Harbin, China, in 2008.
Since 2005, he has participated in the development of a fiber-gyro strapdown INS for nautical navigation. He is a Professor with the College of Intelligent Systems Science and Engineering, Harbin Engineering University. His research interests include strapdown algorithms, estimation theory, and integrated navigation technology.
Yueyang Ben was born in Shenyang, China, in 1981. He received the Ph.D. degree in precision instruments and technology from Harbin Engineering University, Harbin, China, in 2008.
Since 2005, he has participated in the development of a fiber-gyro strapdown INS for nautical navigation. He is a Professor with the College of Intelligent Systems Science and Engineering, Harbin Engineering University. His research interests include strapdown algorithms, estimation theory, and integrated navigation technology.View more
College of Intelligent System Science and Engineering and the Engineering Research Center of Navigation Instruments, Ministry of Education, Harbin Engineering University, Harbin, China
Yang Chen received the bachelor’s degree in automation from the College of Automation, Harbin Engineering University (HEU), Harbin, China, in 2018, where she is currently pursuing the Ph.D. degree with the College of Intelligent Systems Science and Engineering.
From 2022 to 2023, she was a Visiting Scholar with the Department of Electrical and Computer Engineering, Aarhus University (AU), Aarhus, Denmark. Her research interests include artificial intelligence and marine navigation systems.
Yang Chen received the bachelor’s degree in automation from the College of Automation, Harbin Engineering University (HEU), Harbin, China, in 2018, where she is currently pursuing the Ph.D. degree with the College of Intelligent Systems Science and Engineering.
From 2022 to 2023, she was a Visiting Scholar with the Department of Electrical and Computer Engineering, Aarhus University (AU), Aarhus, Denmark. Her research interests include artificial intelligence and marine navigation systems.View more
