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The primary problem with the SINS/DVL underwater integrated navigation system is to calibrate the installation relationship between SINS and DVL. The traditionally used method is GNSS velocity-assisted calibration. However, when it comes to a deep water environment, there is no GNSS signal, thus there is no effective external speed reference information underwater. Aiming at solving the problem, this paper proposes a USBL position-assisted DVL calibration method, taking advantage of position reference information provided by USBL underwater. The new method was deduced from GNSS velocity-assisted calibration method by integral operation. A sea trial experiment data was processed to validate the feasibility of the method. The results showed that the positioning error of SINS/DVL underwater integrated navigation after calibration by this method is reduced by nearly 50%. It can be concluded that this DVL calibration method can significantly improve the navigation and positioning accuracy of SINS/DVL underwater integrated navigation system in deep water. Introduction Doppler Velocity Log (DVL) is an instrument that measures the velocity of carrier in the water using the Doppler effect. It can measure the ground speed of the carrier in the bottom tracking mode and carrier speed relative to water in the water tracking mode. In the water tracking mode, it is necessary to know the water velocity to calculate the ground speed of the carrier. The effective range is an important indicator of DVL. Different models of DVL have different effective ranges. Generally speaking, the higher the speed measurement accuracy, the higher the DVL operating frequency, and the shorter the effective range. The relationship among the three important indicators is shown in Table 1 [1]. Therefore, when selecting the DVL, both accuracy and effective range should be considered according to the specific working conditions. Exceeding the effective range speed measurement accuracy will be seriously degraded, so the DVL speed measurement information is not reliable when diving to the working depth and floating up from the working depth [2]. Table 1. The relationship among the operating frequency, the measurement accuracy and the effective range of DVL. The operating frequency[kHz] The measurement accuracy[mm/s] The effective range[m] 150 0.5%V±2 425~500 300 0.4%V±2 200 600 0.2%V±2 9

A USBL Position-assisted Information Calibration Method for DVL Measurement Error in Deep Water Environment