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A Novel Grid SINS/DVL Integrated Navigation Algorithm for Marine Application.
Yingyao Kang1, Lin Zhao2, Jianhua Cheng3
1College of Automation, Harbin Engineering University, Harbin 150001, China. kangyingyao@hrbeu.edu.cn.
Sensors (Basel, Switzerland)
|January 27, 2018
Summary
This study introduces an improved grid strapdown inertial navigation system (SINS)/Doppler velocity log (DVL) navigation algorithm. It enhances accuracy in middle-high latitudes using unified Earth models and an adaptive robust Kalman filter (ARKF).
Area of Science:
- Navigation Systems Engineering
- Geodesy and Geophysics
- Control Systems Theory
Background:
- Existing grid strapdown inertial navigation system (SINS)/Doppler velocity log (DVL) integrated navigation algorithms often lack unified Earth models, impacting accuracy.
- Traditional Kalman filter (KF) based correction schemes are vulnerable to measurement errors, reducing system robustness.
- Navigation in middle-high latitude regions presents unique challenges for integrated systems.
Purpose of the Study:
- To develop a novel hybrid-correction grid SINS/DVL integrated navigation algorithm for improved marine navigation accuracy.
- To address the issue of non-unified Earth models in existing integrated navigation systems.
- To enhance system robustness against measurement errors using an adaptive robust Kalman filter (ARKF).
Main Methods:
- Unified the Earth models by deriving grid SINS error equations based on a reference ellipsoid Earth model.
- Designed a more accurate grid SINS/DVL filter model incorporating the unified Earth model.
- Proposed a hybrid-correction scheme utilizing an adaptive robust Kalman filter (ARKF) to mitigate measurement error effects.
Main Results:
- Simulation and experimental results demonstrate significant improvements in navigation performance.
- The proposed algorithm shows enhanced accuracy in middle-high latitude regions compared to traditional methods.
- The unified Earth models and ARKF-based hybrid-correction scheme effectively improve navigation accuracy and robustness.
Conclusions:
- The developed hybrid-correction grid SINS/DVL integrated navigation algorithm offers superior performance for marine applications in middle-high latitudes.
- Unifying Earth models and employing an ARKF-based hybrid-correction strategy are key to enhancing navigation accuracy and robustness.
- This research contributes a more reliable and accurate integrated navigation solution for challenging environments.
Keywords:
ARKF hybrid-correctiongrid frameintegrated navigationmiddle-high latitude regionsunified Earth modelMore Related Videos
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