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[Display omitted] • The calibration has a significant impact on the accuracy of the navigation. • A calibration method based on particle swarm optimization algorithm. • Converting the Doppler velocity log calibration problem to a Wahba problem. • The proposed calibration method converges quickly and accurately. • The accuracy of integrated navigation is significantly improved. In the underwater SINS/DVL integrated navigation system, the calibration problem between SINS and DVL sensors is one of the critical factors affecting the accuracy of integrated navigation. Traditional calibration methods usually require long-term filter estimation or require the vehicle to operate specific maneuvers, which have limitations. In this paper, a DVL calibration algorithm using a particle swarm optimization (PSO) algorithm is proposed. The SINS/GPS integrated navigation velocity and DVL output velocity are constructed into two point sets, thereby converting the calibration problem into a Wahba problem and using the particle swarm optimization algorithm to solve the optimal rotation matrix. Simulation experiments and semi-physical experiments show that the proposed calibration method can quickly and accurately estimate the scale factor and installation misalignment angle between SINS and DVL sensors, and the integrated navigation accuracy after calibration is significantly improved. Compared with the conventional calibration approaches, the calibration performance of the proposed method is better. [ABSTRACT FROM AUTHOR]

In this paper, a stochastic optimization algorithm is proposed to calibrate the three-axis magnetometer onboard. The sensor errors, namely, hard iron, soft iron, nonorthogonality, scale factors, and bias, are taken into account. Particle swarm optimization (PSO) strategy is used to do the calibration, enhanced by the stretching technique to improve the accuracy and robustness. The performance of this algorithm is evaluated with a series of laboratory experiments and a field experiment of autonomous underwater vehicle. Comparisons with other analytical calibration methods are made. The results demonstrate that both the PSO and the stretched PSO algorithm can significantly compensate the magnetometer readings, and the latter algorithm has higher accuracy and more robustness. [ABSTRACT FROM PUBLISHER]