When the transmitter of Multi-Orthogonal Signal Underwater Navigation System(MOSUNS) is installed on a moving platform, the rotation of the platform leads to positioning error. In order to solve this problem, the motion error modeling is carried out in this paper, the relationship platform motion parameters (translation rate, rotation rate, etc.) and the linear velocity difference between each transmitter element and the phase error is deduced, and the relationship between the positioning error of the MOSUNS and the platform motion parameters is further deduced. Based on the motion error modeling of moving platform, a rotation compensation algorithm was proposed to compensate the phase error caused by platform rotation, and then the positioning error was compensated. The motion error modeling is quantified by computer simulation, and the validity of the phase compensation algorithm is verified by simulation.

For the problem of positioning error due to the rotation of the platform when the transmitter of the Multi-orthogonal Signals Underwater Navigation System (MOSUNS) is mounted on a moving platform, this paper performs a motion error modeling. The relationship between the platform motion parameters (translation rate and rotation rate, etc.) and the difference of linear velocity among each transmitting elements and the resulting phase error is derived, and the relationship between MOSUNS positioning error and platform motion parameters is further deduced. Based on the moving platform positioning error model, a motion compensation algorithm is proposed to compensate the phase error caused by the platform rotation, and then compensate the positioning error. The motion error is quantified and analyzed by computer simulation, and the validity of the motion compensation algorithm is verified by simulation.