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Robust Position and Velocity Estimation Methods in Integrated Navigation Systems for Inland Water Applications

Medina, Daniel and Romanovas, Michailas and Herrera Pinzón, Iván Darío and Ziebold, Ralf (2016) Robust Position and Velocity Estimation Methods in Integrated Navigation Systems for Inland Water Applications. ION PLANS 2016, 11-14 April 2016, Savannah, Georgia USA. (In Press)

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As the Global Navigation Satellite Systems (GNSS) are intensively used as main source of Position, Navigation and Timing (PNT) information for maritime and inland water navigation, it becomes increasingly important to ensure the reliability of GNSS-based navigation solutions for challenging environments. Although an intensive work has been done in developing GNSS Receiver Autonomous Integrity Monitoring (RAIM) algorithms, a reliable procedure to mitigate multiple simultaneous outliers is still lacking. The presented work evaluates the performance of several methods for multiple outlier mitigation based on robust estimation framework and compares them to the performance of state-of-the-art RAIM methods. The relevant methods include M-estimation, S-estimation, LMS and RANSAC-based approaches as well as corresponding modifications for C/N0-based weighting schemes. The snapshot positioning methods are also tested within the quaternion-based Cubature Quadrature Kalman filter for integrated inertial/GNSS solution. The presented schemes are evaluated using real measurement data from challenging inland water scenarios with multiple bridges and a waterway lock. The initial results are encouraging and clearly indicate the potential of the discussed methods both for classical snapshot solutions as well for the methods with complementary sensors.

Item URL in elib:https://elib.dlr.de/104166/
Document Type:Conference or Workshop Item (Speech)
Title:Robust Position and Velocity Estimation Methods in Integrated Navigation Systems for Inland Water Applications
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Medina, DanielDaniel.AriasMedina (at) dlr.deUNSPECIFIED
Romanovas, Michailasmichailas.romanovas (at) dlr.deUNSPECIFIED
Herrera Pinzón, Iván DaríoIvan.HerreraPinzon (at) dlr.deUNSPECIFIED
Ziebold, Ralfralf.ziebold (at) dlr.deUNSPECIFIED
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Status:In Press
Keywords:Integrated Navigation Systems; Robust Estimation; GNSS; Kalman Filtering; Inertial Sensing; PNT.
Event Title:ION PLANS 2016
Event Location:Savannah, Georgia USA
Event Type:international Conference
Event Dates:11-14 April 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Automated Aids for Safe and Efficient Vessel Traffic Process (old)
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Medina, Daniel
Deposited On:03 Jun 2016 16:41
Last Modified:08 Jun 2018 11:43

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