Quaternion-based Least-squares Method for Calibration of Transceiver Alignment for High-precision Underwater Positioning

摘要

This paper proposes an improved algorithm to estimate the angularmisalignments of transceiver relative to attitude sensors for a highprecisionUSBL system. The procedure presented uses positionmeasurements obtained with the un-calibrated system for a fixedseabed transponder. The angular misalignments of the USBL sensorsare identified by an iterative least-squares estimator. The quaternionparameterization is adopted for the practical reason that therepresentation of quaternion for attitude is free from singularityproblem. The proposed method estimates four elements of quaternionparameters directly from the observations without estimating theDirection-Cosine-Matrix (DCM). The results of simulation show themethod presented in this paper is proved to improve the positionprecision effectively.