Research on SINS/DVL calibration method based on High-precision Differential BDS in short voyage

Strapdown Inertial Navigation System (SINS) and Doppler Velocity Log (DVL) are applied to integrated navigation and positioning of Autonomous Underwater Vehicle (AUV) frequently. The installation error angle between SINS and DVL and the DVL scale factor error determine the positioning accuracy of the vehicle. The AUV should conduct underwater calibration experiment for a long enough distance to calibrate these two errors before sailing. But in practical engineering, AUV always encounters the characteristics of limited range in small water area during actual navigation.This paper designs a SINS/DVL underwater calibration scheme based on High-precision Differential Beidou Navigation Satellite System (DBDS) active calibration, the scope of the required water area is greatly shortened, and uses sub meter precision DBDS as the calibration source to calibrate the SINS/DVL integrated navigation system. The main content of the paper is divided in to two parts: 1) Based on the derived DVL error model, the state equation and measurement equation of the SINS/DVL integrated navigation system suitable for this calibration algorithm are given. 2) Proposed the calibration process details and calibration route suitable for the SINS/DVL integrated navigation system. The test results show that the calibration method can estimate more accurate installation error angle and DVL equivalent error in short voyage.