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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
PubMed
Summary
This summary is machine-generated.

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).

Keywords:
ARKF hybrid-correctiongrid frameintegrated navigationmiddle-high latitude regionsunified Earth model

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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.