Research on technique of underwater positioning sensor system installation error calibration

A method of underwater positioning system's sensor installation error calibration technique based on nonlinear parameter estimation is proposed.Underwater positioning system is composed of acoustic sensor,GPS and ship attitude sensor,but the coordinate of sensor systems couldn't be completely coincided.So calibration techniques is needed to reach high-precision positioning.The calibration method has been mostly based on Gauss-Newton iteration.When there is large system model error caused by linearization of the nonlinear system model.Conventional method based on Gauss-Newton couldn't achieve the requirement of high precision calibration,but the direct solution method is mixed with third-order quantity rules so it effectively reduced the model error caused by linearization and improved the precision of calibration of the sensor system.Processing sea trial data show that the positioning precision could be improved from 1m to 0.7 m.