A calibration method of DVL in integrated navigation system based on particle swarm optimization

Ding, Li; Xu, Jiangning; Zhu, Bing; He, Hongyang

doi:10.1016/j.measurement.2021.110325

Cited by 27 publications

(11 citation statements)

References 29 publications

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“…κ is the scale factor of DVL. They can be calibrated in advance (Li et al, 2022). R n b is the attitude transformation matrix and can be determined by a gyrocompass or Inertial Measurement Unit (IMU).…”

Section: Inertial/dead Reckoning Navigation Systemmentioning

confidence: 99%

Underwater inertial error rectification with limited acoustic observations

Tang,

He,

et al. 2024

Satell Navig

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Underwater inertial navigation is particularly difficult for the long-durance operations as many navigation systems such global satellite navigation systems are unavailable. The acoustic signal is a marvelous choice for underwater inertial error rectification due to its underwater penetration capability. However, the traditional Acoustic Positioning Systems (APS) are expensive and incapable of positioning with limited acoustic observations. Two novel underwater inertial error rectification algorithms with limited acoustic observations are proposed. The first one is the single acoustic-beacon Range-only Matching Aided Navigation (RMAN) method, which is inspired by matching navigation without reference maps and presented for the first time. The second is the improved single acoustic-beacon Virtual Long Baseline (VLBL) method, which considers the impact of indicated relative position increments on virtual beacon reconstruction. Both RMAN and improved VLBL are further developed when multi acoustic-beacons are available, named mAB-RMAN and mAB-VLBL. The comprehensive simulations and field investigations were conducted. The results demonstrated that the proposed methods achieved excellent accuracy and stability compared to the baseline, specifically, the mAB-RMAN and mAB-VLBL can reduce the inertial error by more than 90% and 98% when using single and double acoustic-beacons, respectively. These proposed techniques will provide new perspectives for underwater positioning, navigation, and timing.

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Section: Inertial/dead Reckoning Navigation Systemmentioning

confidence: 99%

Underwater inertial error rectification with limited acoustic observations

Tang,

He,

et al. 2024

Satell Navig

Self Cite

View full text Add to dashboard Cite

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“…Similarly, the optimization techniques presented in (Mehedi et al, 2021; Prasad & Vinod Kumar, 2017) can help improve the system's accuracy by estimating power system parameters. Other optimization technologies in (Houssein, 2021; Li et al, 2022; Vyas & Shah, 2022) help determine the state of different types of electrical equipment under consideration. The increasing demand for artificial intelligence and neural networks is a saviour of nonlinear system calibration.…”

Section: Detailed Analysis Of Available Literaturementioning

confidence: 99%

“…Application domains of the PSO are widespread in the literature concerning measurement and calibration. The angle error due to the Strapdown Inertial Navigation System (SINS) and Doppler Velocity Log (DVL) for navigation in autonomous underwater vehicles (AUV) is eliminated by accurately calibrating and estimating the misalignment angle with the help of particle swarm optimization (PSO) (Li et al, 2022). Apart from these, the Ray optimization algorithm is another metaheuristic approach to optimization that follows Snell's law of refraction whilst updating the weights in the problem.…”

Section: Estimation Of Frequency Componentsmentioning

confidence: 99%

Calibration and frequency estimation in sensors for electrical parameter measurement using regression and metaheuristic based models

2022

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Calibration is the backbone of any sensor and measurement philosophy. The conventional calibration techniques for electrical parameter measurement using nonlinear sensors are affected by the repeating analogue signals and lead to errors in measurement. This research paper investigates different regression-based mathematical models to calibrate the Hall sensor for measuring RMS and the fundamental frequency. The novelty of this research work lies in the feature-based input modelling to measure RMS current and frequency with an error of 3.37e-12% and 7.61e-9%, respectively. The conventional Fourier transform method is compared with six different bio-inspired metaheuristic algorithms to estimate the frequency components of the analogue signal received from the measurement setup. Apart from the conventional sine waveforms, this paper investigates sawtooth and square waveforms as the periodic signals for determining the frequency components. The results from the comparison study show that the Whale Optimization Algorithm exhibits 1.25% lesser error whilst predicting the features in measured frequency components. Apart from this, the paper identifies a unique combination of features that effectively measures the instantaneous electrical parameter with RMSE, NRMSE, and R 2 value of 158.8, 0.51, and 0.44, respectively. Experimentally it is found that the decision tree and random forest regression models calibrate the Hall sensor with 93% less error than their linear and polynomial counterparts.

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“…becomes the most widely-used speed sensor to aid SINS in underwater navigation scenarios [1][2][3][4][5]. However, DVL can hardly meet the requirement of high concealment in military tasks on account of high transmittance for acoustic wave in the water.…”

Section: Introductionmentioning

confidence: 99%

A water track laser Doppler velocimeter for use in underwater navigation

Huang,

Wang,

Xiang

et al. 2024

Meas. Sci. Technol.

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Doppler velocity log (DVL) is usually employed to suppress the divergency of the Strapdown Inertial Navigation System (SINS) in underwater navigation, which is not concealable due to high transmittance for acoustic wave in the water. To conduct underwater navigation task with high concealment, a differential laser Doppler velocimeter (LDV) working at water track mode is integrated with SINS in this paper. The developed LDV measures the advance velocity of the underwater carrier with respect to the surrounding water in underwater navigation scenario with advantages of high concealment, high real-time performance, high update rate, light weight, and small dimension. A dynamic river test was conducted to validate the underwater navigation performance of SINS/LDV integrated system. The experimental results show that during the voyage of 4493s and 5271.8m, the maximum horizontal positioning errors of the proposed SINS/LDV integrated underwater navigation system is 27.8m and the relative position error is less than 0.6% with respect to total distance. Therefore, the water track LDV is practical to aid SINS in underwater navigation environment.

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A calibration method of DVL in integrated navigation system based on particle swarm optimization

Cited by 27 publications

References 29 publications

Underwater inertial error rectification with limited acoustic observations

Underwater inertial error rectification with limited acoustic observations

Calibration and frequency estimation in sensors for electrical parameter measurement using regression and metaheuristic based models

A water track laser Doppler velocimeter for use in underwater navigation

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