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    Lever Arm Compensation of Autonomous Underwater Vehicle for Fast Transfer Alignment

    Qi Wang1,2,*, Changsong Yang1,2, Shaoen Wu3, Yuxiang Wang1,2

    CMC-Computers, Materials & Continua, Vol.59, No.1, pp. 105-118, 2019, DOI:10.32604/cmc.2019.03739

    Abstract Transfer alignment is used to initialize SINS (Strapdown Inertial Navigation System) in motion. Lever-arm effect compensation is studied existing in an AUV (Autonomous Underwater Vehicle) before launched from the mother ship. The AUV is equipped with SINS, Doppler Velocity Log, depth sensor and other navigation sensors. The lever arm will cause large error on the transfer alignment between master inertial navigation system and slave inertial navigation system, especially in big ship situations. This paper presents a novel method that can effectively estimate and compensate the flexural lever arm between the main inertial navigation system mounted on the mother ship and… More >

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