Field performance evaluation of new methods for in-situ calibration of attitude and doppler sensors for underwater vehicle navigation

摘要: We report a comparative performance evaluation, using at-sea field data, of recently reported methods for the problem in-situ calibration alignment rotation matrix between Doppler sonar velocity sensors and inertial navigation arising in underwater vehicles. Most previously solutions to this require use absolute fixes vehicle, thus requiring additional and/or beacons be located externally apart from vehicle. briefly review four employing only internal vehicle velocity, acceleration, attitude, depth. results analysis these method with data deep-water survey missions Sentry autonomous conducted March, 2011 Kermadec Arc Southern Pacific Ocean. The reveal consistent differences various when analyzed on several different dives.