Motion compensation algorithm for Multi-Orthogonal Signal Underwater Navigation System on moving platform

Abstract

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.