KEYWORDS: Calibration, Navigation systems, Error analysis, System integration, 3D modeling, Velocity measurements, Associative arrays, Systems modeling, Optical simulations, Monte Carlo methods
Aiming at the calibration problem of SINS and multi beam DVL integrated navigation system, a multi-level iterative calibration method based on quaternion (MICQ) model is proposed in this paper. Different from the traditional calibration method, the quaternion is used to describe the misalignment angle between SINS and DVL coordinate system, and the structural angle error is introduced to describe the DVL beam velocity measurement information. Finally, a multi-level iterative method is designed to decouple the structural angle error and misalignment angle. The proposed method can complete the multi beam information calibration of tightly integrated navigation system, and the calibration results can provide the basis for SINS/DVL tightly integrated navigation system. Simulation results show the effectiveness of the proposed multi beam calibration method, and compared with the euler angle model calibration method, it shows the superiority of describing the misalignment angle based on quaternion model.
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