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

Abstract

The increasing traffic in vehicular river corridors as well as the growing demands on efficiency 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 traffic 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 traffic conditions. Finally, first numerical results are presented and discussed.