Testing and Analysis of Selected Navigation Parameters of the GNSS/INS System for USV Path Localization during Inland...

Area of Science:

• Geomatics Engineering
• Robotics and Autonomous Systems
• Hydrographic Surveying

Background:

• Accurate path localization of moving objects is crucial, especially in challenging environments with limited satellite signal access.
• Global Navigation Satellite Systems (GNSSs) integrated with Inertial Navigation Systems (INSs) offer a robust solution for enhanced positioning availability.
• Unmanned Surface Vehicles (USVs) require reliable navigation for effective inland hydrographic data acquisition.

Purpose of the Study:

• To test and analyze the navigation parameters of a GNSS/INS system for USV path localization during inland hydrographic surveys.
• To evaluate the positioning accuracy and Euler angle performance of the Ellipse-D GNSS/INS system in RTK mode.
• To determine if the system meets the stringent positioning requirements for various International Hydrographic Organization (IHO) survey orders.

Main Methods:

• Utilized the Ellipse-D GNSS/INS system operating in Real Time Kinematic (RTK) mode for positioning the 'HydroDron' Autonomous Surface Vehicle (ASV).
• Conducted measurements along four distinct routes with parallel and spiral sounding profiles on Lake Kłodno, Poland.
• Analyzed 3D position coordinates (Northing, Easting, height) and Euler angles (pitch, roll) to assess system performance.

Main Results:

• The Ellipse-D GNSS/INS system in RTK mode achieved positioning accuracy between 0.877 m and 0.941 m (R95(2D)) in areas with limited mobile network coverage.
• Pitch and roll error values were approximately 0.06° when using RTK, closely matching manufacturer recommendations.
• Even with intermittent RTK corrections (30-40% differential mode), the system met IHO positioning requirements for all survey orders.

Conclusions:

• The Ellipse-D GNSS/INS system, even with temporary loss of RTK corrections, is suitable for inland hydrographic surveys across all IHO orders.
• The system demonstrates high accuracy for USV path localization, fulfilling the demanding requirements of modern hydrographic operations.
• The integration of GNSS and INS provides a reliable solution for autonomous navigation in complex inland water environments.