A Method for Underwater Dynamic Gravimetry Combining Inertial Navigation System, Doppler Velocity Log, and Depth Gauge

2020 ◽  
Vol 17 (8) ◽  
pp. 1294-1298 ◽  
Author(s):  
Zhiming Xiong ◽  
Juliang Cao ◽  
Meiping Wu ◽  
Shaokun Cai ◽  
Ruihang Yu ◽  
...  
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Doppler Velocity ◽  
Depth Gauge

scholarly journals Improved Underwater Integrated Navigation System using Unscented Filtering Approach

2015 ◽  
Vol 69 (3) ◽  
pp. 561-581 ◽  
Author(s):  
Mohammad Shabani ◽  
Asghar Gholami
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Doppler Velocity ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Measurement Models ◽  
Error State ◽  
Filtering Approach

In underwater navigation, the conventional Error State Kalman Filter (ESKF) is used for combining navigation data where due to first order linearization of the nonlinear equations of the dynamics and measurements, considerable error is induced in estimated error state and covariance matrices. This paper presents an underwater integrated inertial navigation system using the unscented filter as an improved nonlinear version of the Kalman filter family. The designed system consists of a strap-down inertial navigation system accompanying Doppler velocity log and depth meter. In the proposed approach, to use the nonlinear capabilities of the unscented filtering approach the integrated navigation system is implemented in a direct approach where the nonlinear total state dynamic and and measurement models are utilised without any linearization. To our knowledge, no results have been reported in the literature on the experimental evaluation of the unscented-based integrated navigation system for underwater vehicles. The performance of the designed system is studied using real measurements. The results of the lake test show that the proposed system estimates the vehicle's position more accurately compared with the conventional ESKF structure.

scholarly journals Complexed navigation system based on a strapdown inertial navigation system and correlation meter speed and drift

2015 ◽  
pp. 74-81
Author(s):  
Yu. A. Ivanov
Keyword(s):  
Correlation Functions ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Moving Average ◽  
Inertial Navigation ◽  
Correlation Method ◽  
Strapdown Inertial Navigation System ◽  
Doppler Velocity ◽  
Speed Up ◽  
Strapdown Inertial Navigation

Integration of data and correlation meter speed strapdown inertial navigation system built by analogy with the Doppler velocity and drift, results in strong disturbances in the control loop movement of the aircraft in the horizontal plane. A method of aggregation, which takes into account the correlation method for measuring the speed, is the need to calculate the long periods of correlation functions of signals received by antennas spaced. This corrected the error strapdown inertial navigation system to speed up, speed and coordinates, eliminating the need for a moving average of the correlation functions and information retrieval speed navigation in every cycle.

Stochastic mapping using forward look sonar

Robotica ◽  
2001 ◽  
Vol 19 (5) ◽  
pp. 467-480 ◽  
Author(s):  
John L. Leonard ◽  
Robert N. Carpenter ◽  
Hans Jacob S. Feder
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Mapping Method ◽  
Doppler Velocity ◽  
Data Set ◽  
Localization Algorithms ◽  
Us Navy ◽  
Stochastic Mapping ◽  
Imaging Sonar

This paper investigates the problem of concurrent mapping and localization (CML) using forward look sonar data. Results are presented from processing of an oceanic data set from an 87 kHz US Navy forward look imaging sonar using the stochastic mapping method for CML. The goal is to detect objects on the seabed, map their locations, and concurrently compute an improved trajectory for the vehicle. The resulting trajectory is compared with position estimates computed with an inertial navigation system and Doppler velocity sonar. The results demonstrate the potential of concurrent mapping and localization algorithms to satisfy the navigation requirements of undersea vehicles equipped with forward look sonar.

On In Situ Calibration of SINS and Doppler Dead Reckoning Navigation System

2012 ◽  
Vol 479-481 ◽  
pp. 2610-2615
Author(s):  
Kai Yao ◽  
Qi Dan Zhu ◽  
Bo Zhang
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Dead Reckoning ◽  
Strapdown Inertial Navigation System ◽  
Doppler Velocity ◽  
Navigation Algorithm ◽  
Calibration Algorithm ◽  
Strapdown Inertial Navigation

This paper addresses a practical problem arising in the calibration of bottom-lock doppler velocity log for the navigation of surface ships. Firstly, a dead reckoning navigation algorithm and briefly error analyze are proposed. Then, employing ship’s true trajectory and calculated trajectory, the rotational alignment offset between a bottom-lock doppler velocity log and a strapdown inertial navigation system as well as the scale factor error of the doppler velocity log can be experimentally determined using sensors commonly deployed with a vehicle in the field. It requires velocity values from the vehicle's doppler log and strapdown inertial navigation system, and absolute vehicle position fixes from a GPS receiver. Lake experiment results show that the calibration algorithm can calibrate the error parameters effectively, thus the position error decreases significantly after compensating the error parameters.

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