一种INS/DVL组合导航一体化偏差标校方法

INS/DVL 一体化偏差是影响组合导航系统精度的重要因素，对一体化偏差进行高精度标校是实现高精度组合的前提和基础。传统基于外速度拟合的一体化偏差估计方法对观测速度要求高，估计精度受量测噪声影响较大，同时实现过程较为复杂。提出一种基于 SVD 最小二乘的 INS/DVL 一体化偏差航迹拟合估计方法，对三轴一体化偏差角进行拟合标校。仿真结果表明， 在 GPS 定位误差为 20m 的情况下，三个安装偏差角的 50 次 Monte Carlo 仿真平均估计误差分别为 0.1001°、0.0283°、0.0213°。该方法实现简单，估计精度较高，具有很好的工程实用价值。

Calibration Method of Misalignment for INS / DVL Integration Navigation

The integration misalignment of INS/DVL is an important factor to affect the positioning accuracy of integrated navigation system. How to accurately estimate the misalignment angle between the two equipments is the key to improve the positioning accuracy of integrated navigation system. Misalignment angle estimation based on the speed of fitting the observed speed high accuracy requirements, it is estimated that the accuracy is affected by measurement noise, while enabling more complex process .To solve these problems, using an estimation method based on the sail track, using singular value decomposition (SVD) least squares algorithm to achieve the online estimate of the misalignment angle. Simulation results show that, in the case of the GPS positioning error of 20 meters, the three estimate errors of 50 Monte Carlo simulations is 0.1001°, 0.0283°, 0.0213°. This method is simply, high estimate accuracy and having good practical value.