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1 results

  • The Estimation of Angular Misalignments for Ultra Short Baseline Navigation Systems. Part II: Experimental Results

  • Hsin-Hung Chen
  • Journal:
    The Journal of Navigation / Volume 66 / Issue 5 / September 2013
    Published online by Cambridge University Press:
    09 May 2013, pp. 773-787
    Print publication:
    September 2013
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  • An algorithm of alignment calibration for Ultra Short Baseline (USBL) navigation systems was presented in the companion work (Part I). In this part (Part II) of the paper, this algorithm is tested on the sea trial data collected from USBL line surveys. In particular, the solutions to two practical problems referred to as heading deviation and cross-track error in the USBL line survey are presented. A field experiment running eight line surveys was conducted to collect USBL positioning data. The numerical results for the sea trial data demonstrated that the proposed algorithm could robustly and effectively estimate the alignment errors. Comparisons of the experimental result with the analytical prediction of roll misalignment estimation in Part I is drawn, showing good agreement. The experimental results also show that an inappropriate estimation of roll alignment error will significantly degrade the quality of estimations of heading and pitch alignment errors.