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Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions

Ziebold, Ralf and Medina, Daniel and Romanovas, Michailas and Lass, Christoph and Gewies, Stefan (2018) Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions. Sensors, 18 (9), pp. 1-20. Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/s18092954. ISSN 1424-8220.

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Official URL: http://www.mdpi.com/1424-8220/18/9/2954


Currently Global Navigation Satellite Systems (GNSSs) are the primary source for the determination of absolute position, navigation, and time (PNT) for merchant vessel navigation. Nevertheless, the performance of GNSSs can strongly degrade due to space weather events, jamming, and spoofing. Especially the increasing availability and adoption of low cost jammers lead to the question of how a continuous provision of PNT data can be realized in the vicinity of these devices. In general, three possible solutions for that challenge can be seen: (i) a jamming-resistant GNSS receiver; (ii) the usage of a terrestrial backup system; or (iii) the integration of GNSS with other onboard navigation sensors such as a speed log, a gyrocompass, and inertial sensors (inertial measurement unit, IMU). The present paper focuses on the third option by augmenting a classical IMU/GNSS sensor fusion scheme with a Doppler velocity log. Although the benefits of integrated IMU/GNSS navigation system have been already demonstrated for marine applications, a performance evaluation of such a multi-sensor system under real jamming conditions on a vessel seems to be still missing. The paper evaluates both loosely and tightly coupled fusion strategies implemented using an unscented Kalman filter (UKF). The performance of the proposed scheme is evaluated using the civilian maritime jamming testbed in the Baltic Sea.

Item URL in elib:https://elib.dlr.de/121576/
Document Type:Article
Title:Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Ziebold, RalfUNSPECIFIEDhttps://orcid.org/0000-0002-0488-6457UNSPECIFIED
Medina, DanielUNSPECIFIEDhttps://orcid.org/0000-0002-1586-3269UNSPECIFIED
Lass, ChristophUNSPECIFIEDhttps://orcid.org/0000-0001-9998-0632UNSPECIFIED
Gewies, StefanUNSPECIFIEDhttps://orcid.org/0000-0001-5549-8115UNSPECIFIED
Date:5 September 2018
Journal or Publication Title:Sensors
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Page Range:pp. 1-20
EditorsEmailEditor's ORCID iDORCID Put Code
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
Series Name:Special Issue "GNSS and Fusion with Other Sensors"
Keywords:Sensorfusion, Satellitennavigation, Jamming, Maritime Navigation
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), R - Project Navigation 4.0 (old)
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Ziebold, Ralf
Deposited On:20 Sep 2018 12:07
Last Modified:02 Nov 2023 09:53

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