An online calibration method for the DVL scale factor error based on a circular track

In the process of dead reckoning (DR) for underwater carrier, the scale factor error of DVL and heading error measured by compass are coupled and difficult to be separated. Aiming at solving this problem, an on-line calibration method is put forward for the scale factor error of DVL based on a circular track on the foundation of obtaining the location information from Long Base Line (LBL). This method can effectively separate the DVL scale factor error and compass heading error in the process of DR and realize the online calibration of the DVL scale factor error by introducing the location information from LBL in real time. The semi-physical simulation experiment is conducted to verify the correctness and validity of this method. Experimental results show that the DVL scale factor error can be calibrated effectively (the residual error ratios is 6%), also the underwater navigation accuracy is improved very well.