It is crucial for INS/DVL integrated systems to precisely evaluate the installation relationship between DVL and INS. An online iterative and recursive method was presented based on the estimation of space-state variables. The obervabilities of these variables were analyzed. The conditions to achieve fully observable were discussed, and the maneuver manners of the ship was given. An estimation filter was designed and put into practical shipboard experiment. The experiment results prove that the estimation error is less than 0.1° after 2 iterations when installation angle error is less than 10°, which meet the requirement.This method can substitute manual optical calibration, and is valuable in engineering application.%对于INS/DVL组合导航系统,如何准确估计出DVL与载体之间的安装关系是影响组合导航系统精度的关键因素,针对该问题提出了一种在线迭代递推算法,应用卡尔曼滤波技术,对此安装关系进行估计.并对安装关系中的状态变量的可观性进行分析,给出了满足可观性所需的条件以及舰船运动方式.设计出了估计滤波器,并进行了实际船载实验.实验结果表明:在安装角误差小于100的情况下,迭代计算两次后误差小于0.1°,估计精度满足要求,算法有效可行.该方法代替了人工光学标定方法,具有很好的工程应用价值.
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