DVL Calibration using Data-driven Methods

• URL: http://arxiv.org/abs/2401.12687v1
• Date: Tue, 23 Jan 2024 11:52:25 GMT
• Title: DVL Calibration using Data-driven Methods
• Authors: Zeev Yampolsky and Itzik Klein
• Abstract summary: We propose an end-to-end deep-learning framework for the calibration procedure. We show that our proposed approach outperforms model-based approaches by 35% in accuracy and 80% in the required calibration time.
• Score: 3.4447129363520332
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Autonomous underwater vehicles (AUVs) are used in a wide range of underwater applications, ranging from seafloor mapping to industrial operations. While underwater, the AUV navigation solution commonly relies on the fusion between inertial sensors and Doppler velocity logs (DVL). To achieve accurate DVL measurements a calibration procedure should be conducted before the mission begins. Model-based calibration approaches include filtering approaches utilizing global navigation satellite system signals. In this paper, we propose an end-to-end deep-learning framework for the calibration procedure. Using stimulative data, we show that our proposed approach outperforms model-based approaches by 35% in accuracy and 80% in the required calibration time.

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