A Novel Calibration Method of SINS/DVL Integration Navigation System Based on Quaternion

This paper proposes a new quaternion calibration algorithm to calibrate large misalignment angles between Strapdown Inertial Navigation System (SINS) and Doppler Velocity Log (DVL) in SINS/DVL integrated navigation system. A new SINS/DVL/GPS integrated navigation system is derived to complete the SINS alignment and SINS/DVL integrated navigation system calibration. Different from the traditional calibration model, the misalignment angles are described by quaternion, according to the physical properties of misalignment angle and scale factor error, the new measurement equation is derived: zero observation vector is used to estimate the misalignment angles, and velocity error scalar is used to estimate the scale factor error. A switching measurement information Kalman filter is designed to switch between different processes. The performance of the proposed quaternion calibration algorithm is evaluated through simulation comparisons with nonlinear model approaches and experiment. The simulation results demonstrate that the proposed quaternion calibration algorithm has better accuracy and robustness than the nonlinear model approaches. The experiment results show that the proposed quaternion calibration algorithm is effective, the SINS/DVL integrated navigation system positioning error after calibration is less than 1.65% mileage in more than 30km travel.