Determination of Optimal Trajectories for an Inland Water Trac Manoeuvre Guidance System based on Sensor-fused PNT data

Abstract

The increasing tra�c in vehicular river corridors as well as the growing demands on e�ciency and positional accuracy for inland water transportation of goods have made the determination of position, navigation and timing (PNT) data including additional integrity information and the development of a driver assistance system for inland water vessels based on this PNT data one of the most important challenges facing modern inland water transportation and a major practical problem for both navigators and geodesists. As the basis of a driver assistance system, this work describes the architecture of a system including the tightly-coupled sensor fusion of GNSS and IMU data for the determination of reliable PNT data in real-time with inland water tra�c purposes. Moreover, a simple mathematical model of vessel manoeuvring is presented. Optimisation approaches based on Interior Point Optimisation and Sequential Quadratic Programming are applied to search for the vessel trajectory considering several tra�c conditions. Finally, �first numerical results are presented and discussed.