基于SINS/DVL/GPS的AUV组合导航标定方法的研究及其误差分析

摘要

为了进一步提高自主水下航行器(AUV)捷联惯导(SINS)与多普勒计程仪(DVL)组合导航定位精度,需要准确标定出SINS与DVL之间的安装误差角以及DVL的刻度系数.论文系统的介绍了组合导航系统的标定方法和流程,最后分析了组合导航系统的误差来源.%In order to improve the precision of AUV SINS/DVL integrated navigation system's orientation,it is necessary to ac?curately calibrate the misalignment angle between SINS and DVL and the scale coefficient of DVL. This paper introduces the inte?grated navigation system calibration method and process,Finally the error source of integrated navigation system are analyzed.