A method of correcting a velocity measurement error of a Doppler velocity log
A Doppler speed log and speed measurement technology, which is applied in the field of navigation systems and navigation sensors, can solve problems such as DVL speed measurement errors and affect the accuracy of integrated navigation, achieve accurate error correction models, improve DVL speed measurement accuracy, and data selection simple effect
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[0044] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0045] When the present invention establishes the correction model, it fully considers the pitch angle θ, the change amount Δθ of the carrier pitch angle within the time difference Δt of DVL transmitting and receiving signal moments, the lever arm L between the DVL installation position and the carrier swing center, and the carrier pitch angle rate The introduction of the lever-arm effect caused by ω to the DVL speed measurement error makes the established correction model more accurate, and more accurate navigation results can be obtained after the DVL speed measurement error correction is completed.
[0046] Coordinate system among the present invention and the definition of variable:
[0047] Navigation coordinate system n: the origin O is located at the center of the carrier, and X n Axis and Y n Axes pointing east and north respectively in the local...
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