A Simple and Precise Correction Method for DVL Measurements Under the Dynamic Environment

To mitigate the Doppler velocity logs (DVL) measurement errors in inertial navigation system (INS)/DVL integrated navigation system under dynamic environment, a simple and precise correction method is proposed. First, the general DVL velocity measurement error model under various dynamics is explored. Then, the corresponding correction scheme is presented, which suits both frequency shift outputs and direct velocity outputs of DVL. Different from the existing approaches, no assumptions are pre-required to describe the regular patterns of the DVL velocity measurement. The attitude and velocity data of INS are well investigated to build the relationship between the DVL velocities at transmitting epoch and receiving epoch. Simulations are conducted to evaluate the effectiveness of the proposed algorithm under various trajectories, where the DVL outputs without correction and the correction methods based on constant velocity assumptions are employed for comparison. The results indicate that the existing correction methods may achieve good navigation accuracy in specific trajectories, where the motion coincides with the assumptions. However, only the proposed correction method well fits all the possible situations, which shows greater adaptability and robustness than any other existing solutions.