CAJ | 학술논문

为了利用声学多普勒计程仪(DVL)进行载体的航迹推算,DVL传感器的安装偏角误差不可忽视,必须进行校准.此误差是在载体上安装DVL声学传感器时引起的.不进行机械修正,而是借助安装在载体上的高精度全球定位系统(GPS)与姿态仪的信息,应用最小二乘法对此误差进行了在微小型系统中的校准.理论分析与试验结果说明了DVL经校准后航迹推算性能的提高,从而证明该校准方法的有效性.
위료이용성학다보륵계정의(DVL)진행재체적항적추산,DVL전감기적안장편각오차불가홀시,필수진행교준.차오차시재재체상안장DVL성학전감기시인기적.불진행궤계수정,이시차조안장재재체상적고정도전구정위계통(GPS)여자태의적신식,응용최소이승법대차오차진행료재미소형계통중적교준.이론분석여시험결과설명료DVL경교준후항적추산성능적제고,종이증명해교준방법적유효성.
Transducer's installation error is not negligible and has to be calibrated to realize carrier's deadreckoning navigation for acoustic Doppler velocity log(DVL).This installation error is caused from the differences of the direction between acoustic transducer and carrier.With the aid of information from an external high precision GPS and attitude sensor,this installation error can be calibrated by the least square method for this microsystems.Theoretical analysis and experimental results show that this method can correct installation error effectively,and testify improvement in performance.