A Quasi-Newton Quaternions Calibration Method for DVL Error Aided GNSS

Doppler Velocity Logs (DVL) is an important information source for underwater vehicle navigation because it can provide accurate velocity information. As the main system, SINS/DVL integrated navigation is widely used in the underwater vehicle. However, DVL scale factor error, and misalignment with inertial measurement unit (IMU) are the two sources of integration inaccuracy. A novel calibration method aided GNSS is proposed in this paper, which is designed based on velocity observation and position observation respectively. The proposed method combines the Quasi-Newton method and Quaternions method, and we name it Quasi-Newton Quaternion (QNQ) calibration method. In order to verify the performance of the proposed method, another calibration method based on the Kalman filter is introduced in simulation, vehicle tests, and Sea trial. The test results indicate that the proposed calibration method can perform a good estimation of DVL error.