In-motion coarse alignment method for SINS/DVL with the attitude dynamics

Yiqing Yao; Xiaosu Xu; Yongyun Zhu; Xiang Xu

doi:10.1016/j.isatra.2020.05.033

In-motion coarse alignment method for SINS/DVL with the attitude dynamics

ISA Trans. 2020 Oct:105:377-386. doi: 10.1016/j.isatra.2020.05.033. Epub 2020 May 27.

Authors

Yiqing Yao¹, Xiaosu Xu², Yongyun Zhu³, Xiang Xu⁴

Affiliations

¹ School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China; Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing, 210096, China. Electronic address: yucia@sina.com.
² School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China; Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing, 210096, China. Electronic address: xxs@seu.edu.cn.
³ School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China; Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing, 210096, China. Electronic address: zhuyy@seu.edu.cn.
⁴ School of Electronic and Information Engineering, Soochow University, Suzhou 215006, China. Electronic address: x.xu@suda.edu.cn.

PMID: 32475536
DOI: 10.1016/j.isatra.2020.05.033

Abstract

For underwater Strapdown Inertial Navigation System (SINS)/Doppler Velocity Log (DVL) integration system, there are intervals between DVL's transmitting and receiving epochs, which introduces velocity errors when the attitude dynamic occurs. To accelerate the coarse alignment process for SINS/DVL with attitude dynamics, an improved in-motion coarse alignment solution is proposed. First, the DVL aided in-motion coarse alignment method is explored. Then, a DVL velocity compensation algorithm for coarse alignment is proposed. Simulations and a field test are conducted to evaluate the effectiveness of the proposed algorithm under various trajectories. The results indicate that the proposed coarse alignment solution effectively applies the velocity compensation algorithm to the coarse alignment mission, which shows greater performance than the traditional optimization-based alignment (OBA) method in various trajectories.

Keywords: Attitude dynamics; DVL velocity measurement; In-motion coarse alignment; SINS/DVL integrated navigation system.