A Correction Method for DVL Measurement Errors by Attitude Dynamics

Due to the random wave motions as well as the vehicle's movement pattern changes, the attitude dynamics (including heading, pitch, and roll motions) of the vehicle induced degrades the accuracy of doppler velocity log (DVL), which is a key element in deciding the precision of strapdown inertial navigation system (SINS)/DVL integrated navigation system. In this paper, the effects of heading, pitch and roll dynamics are first analyzed separately. Then, the general error model for DVL measurement errors caused by attitude dynamics is established. In the modeling process, the changes of angular position and angular rate between the DVL signal transmission and reception instant are considered. Subsequently, by utilizing the established error model, a correction method based on the real-time attitude information from SINS/DVL system is presented. Finally, the performance of the proposed method is examined through numerical simulations in which typical scenarios with a series of attitude dynamics are used. Simulation results show that the errors can be effectively corrected by using the correction method. This contributes to an improved positioning accuracy of SINS/DVL navigation.