Performance Enhancement for Conventional Tightly Coupled INSDVL Navigation System Using Regeneration of Partial DVL Measurements
Joint Authors
Yoo, Taesuk
Kim, Moonhwan
Yoon, Seonil
Kim, Daejoong
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-01-11
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
Inertial navigation systems/Doppler velocity log (INS/DVL) integrated navigation systems are widely used in underwater environments where GPS is unavailable.
An INS/DVL integrated navigation system is generally loosely coupled; however, this does not work if any of the DVL transducers do not work.
If a system is tightly coupled, velocity error can be estimated with fair accuracy even if some of the transducers fail.
However, despite the robustness of a tightly coupled system compared to a loosely coupled one, velocity error estimation accuracy of the former decreases as the number of faulty transducers increases.
Therefore, this paper proposes an INS/DVL/revolutions per minute (RPM) integrated navigation filter designed to improve the performance of conventional tightly coupled integrated systems by estimating data from faulty transducers using RPM data.
Two salient features of the proposed filter are (1) estimating RPM data accounting for error from the effect of tidal currents and (2) continuous estimation of error in RPM data by selectively converting only the measurements of faulty transducers.
The performance of the proposed filter was first verified using Monte Carlo numerical simulations with the analysis range set to 1 standard deviation (1σ, 68%) and then with real sea test measurement data.
American Psychological Association (APA)
Yoo, Taesuk& Kim, Moonhwan& Yoon, Seonil& Kim, Daejoong. 2020. Performance Enhancement for Conventional Tightly Coupled INSDVL Navigation System Using Regeneration of Partial DVL Measurements. Journal of Sensors،Vol. 2020, no. 2020, pp.1-15.
https://search.emarefa.net/detail/BIM-1190461
Modern Language Association (MLA)
Yoo, Taesuk…[et al.]. Performance Enhancement for Conventional Tightly Coupled INSDVL Navigation System Using Regeneration of Partial DVL Measurements. Journal of Sensors No. 2020 (2020), pp.1-15.
https://search.emarefa.net/detail/BIM-1190461
American Medical Association (AMA)
Yoo, Taesuk& Kim, Moonhwan& Yoon, Seonil& Kim, Daejoong. Performance Enhancement for Conventional Tightly Coupled INSDVL Navigation System Using Regeneration of Partial DVL Measurements. Journal of Sensors. 2020. Vol. 2020, no. 2020, pp.1-15.
https://search.emarefa.net/detail/BIM-1190461
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190461