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A Method for IMU/GNSS/Doppler Velocity Log Integration in Maritime Applications

Romanovas, Michailas and Ziebold, Ralf and Lanca, Luis (2015) A Method for IMU/GNSS/Doppler Velocity Log Integration in Maritime Applications. In: 2015 International Association of Institutes of Navigation 15th World Congress (IAIN 2015), pp. 1-8. International Association of Institutes of Navigation / IEEE. 2015 International Association of Institutes of Navigation World Congress (IAIN 2015), 20-23 Oct 2015, Prague, Czech Republic.

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Official URL: http://www.iain2015.org/proceedings/

Abstract

Although the GNSS/GPS had become the primary source for Positioning, Navigation and Timing (PNT) information in maritime applications, the ultimate performance of the system can strongly degrade due to space weather events, deliberate interference, shadowing, multipath and overall system failures. Within the presented work the development of an affordable integrated PNT unit for future on-board integrated systems is presented, where the GNSS information is fused both with inertial and Doppler Velocity Log (DVL) measurements. Here redundant and complementary information from different sensors serves to improve the system performance and reduce the position drift when the GNSS signals are not available. The nonlinearity of this advanced fusion problem is addressed by employing Unscented Kalman Filter (UKF) with spherical point arrangement and further detailed analysis is presented in terms of the process and measurement models implemented. The results demonstrate that position drift can be significantly reduced by incorporating DVL measurements in IMU/GNSS system and that the proposed integrated navigation algorithm is feasible and efficient for GNSS outages of prolonged duration, where pure inertial GNSS outage bridging would be either inaccurate or would require too expensive IMUs.

Item URL in elib:https://elib.dlr.de/99059/
Document Type:Conference or Workshop Item (Speech)
Title:A Method for IMU/GNSS/Doppler Velocity Log Integration in Maritime Applications
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Romanovas, Michailasmichailas.romanovas (at) dlr.deUNSPECIFIED
Ziebold, Ralfralf.ziebold (at) dlr.deUNSPECIFIED
Lanca, LuisLuis.Lanca (at) dlr.deUNSPECIFIED
Date:23 October 2015
Journal or Publication Title:2015 International Association of Institutes of Navigation 15th World Congress (IAIN 2015)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 1-8
Editors:
EditorsEmail
Frantisek, VeirazkaUNSPECIFIED
Publisher:International Association of Institutes of Navigation / IEEE
Series Name:IAIN Congress Proceedings
Status:Published
Keywords:Kalman filtering; Integrated Navigation System; GNSS; Inertial Sensors; Doppler Velocity Log; Positioning, Navigation and Timing (PNT) Unit
Event Title:2015 International Association of Institutes of Navigation World Congress (IAIN 2015)
Event Location:Prague, Czech Republic
Event Type:international Conference
Event Dates:20-23 Oct 2015
Organizer:Association of Institutes of 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)
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Romanovas, Michailas
Deposited On:09 Nov 2015 15:47
Last Modified:31 Jul 2019 19:55

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