关键词: 导航技术, INS/GPS/DVL, 测量延迟, 时标法, 相关系数法

Abstract:

The affecting extent of measurement delay on the accuracy of INS/GPS/DVL hybrid navigation system was analyzed. It was shown that the heading error is a result of the measurement delay and it influences the forward accelerometer bias. The software and hardware calibration methods were proposed. They were the means of time tags and the crosscorrelation coefficients. The measurement delay was estimated then observation values were corrected under the conditions that no large changes were required for the hardware and algorithm. Several simulations were carried out in the case with and without measurement delay and after calibration compensation. The results show that by the proposed method the measurement delay error can be exactly estimated and there is almost no difference between each system precision with and without the measurement delay.

Key words: navigation technology, INS/GPS/DVL, measurement delay, time tag, crosscorrelation coefficient