Study on Installation Error Analysis and Calibration of Acoustic Transceiver Array Based on SINS/USBL Integrated System

Tong Jinwu; Xu Xiaosu; Zhang Tao; Zhang Liang; Li Yao

doi:10.1109/ACCESS.2018.2878756

IEEE Access (Jan 2018)

Study on Installation Error Analysis and Calibration of Acoustic Transceiver Array Based on SINS/USBL Integrated System

Tong Jinwu,
Xu Xiaosu,
Zhang Tao,
Zhang Liang,
Li Yao

Affiliations

Tong Jinwu: ORCiD; Key Laboratory of Micro-Inertial Instruments and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China
Xu Xiaosu: Key Laboratory of Micro-Inertial Instruments and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China
Zhang Tao: ORCiD; Key Laboratory of Micro-Inertial Instruments and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China
Zhang Liang: Key Laboratory of Micro-Inertial Instruments and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China
Li Yao: Key Laboratory of Micro-Inertial Instruments and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China

DOI: https://doi.org/10.1109/ACCESS.2018.2878756
Journal volume & issue: Vol. 6
pp. 66923 – 66939

Abstract

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The installation error of USBL acoustic transceiver array is one of the important error sources for the SINS/USBL integrated navigation system. The installation error of USBL transceiver array can be divided into coordinate shift error and angle rotation error. The angle rotation error (i.e., installation error angle) has a great influence on the positioning accuracy of USBL. In this paper, the traditional surround sailing method is used to study the relationship between the installation error angle and the USBL positioning accuracy. The influence on USBL positioning is analyzed from the component of heading, pitch, and roll of installation error angle, and the simulation results show that the horizontal positioning errors of USBL are mainly affected by the heading and rolling installation errors. The horizontal positioning error of USBL caused by heading or rolling installation error of 1° will result in 17.45 m, under the circumstance that the depth of transponder is 100 m and the radius of surround sailing is 1000 m, without considering the influence of other positioning errors. 1.75 m horizontal positioning error of USBL caused by pitching positioning error of 1° pitching positioning error and the horizontal positioning error of USBL caused by heading and pitching positioning error is also related to the horizontal distance between the transmitter and transponder. A dynamic calibration algorithm of installation error angle based on incremental iteration is proposed in this paper, which could realize the dynamic on-line estimation of installation error angle of USBL transceiver array. The installation error angle increment module can accurately estimate the installation angle error by iterating more than 10 times. In the case of ignoring the other error terms, the horizontal positioning error caused by the installation error angle can be reduced from 8 to 2 m in the positioning range of 1000 m.

Published in IEEE Access

ISSN: 2169-3536 (Online)
Publisher: IEEE
Country of publisher: United States
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering
Website: https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639

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