Multi-level iterative for multi beam DVL calibration method based on quaternion

Bo Xu; Hanling Li; Lianzhao Wang

doi:10.1117/12.2624697

27 March 2022 Multi-level iterative for multi beam DVL calibration method based on quaternion

Bo Xu, Hanling Li, Lianzhao Wang

Proceedings Volume 12169, Eighth Symposium on Novel Photoelectronic Detection Technology and Applications; 1216965 (2022) https://doi.org/10.1117/12.2624697
Event: Eighth Symposium on Novel Photoelectronic Detection Technology and Applications, 2021, Kunming, China

Abstract

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.

Citation Download Citation

Bo Xu, Hanling Li, and Lianzhao Wang "Multi-level iterative for multi beam DVL calibration method based on quaternion", Proc. SPIE 12169, Eighth Symposium on Novel Photoelectronic Detection Technology and Applications, 1216965 (27 March 2022); https://doi.org/10.1117/12.2624697

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available