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Aided Navigation Gps With High Rate Sensors

Guidance and control methodologies for marine vehicles: A survey

This paper addresses the asymptotic dynamic positioning of ships in the presence of actuator constraints and partial loss of actuator effectiveness faults. A simple saturated proportional-derivative controller is proposed. Lyapunov direct method is employed to prove asymptotic stability. Explicit conditions on control gains for ensuring asymptotic stability are presented. Advantages of the proposed controller include simple and intuitive structure, high computation efficiency, and absence of modeling parameter and fault detection and isolation mechanism in the control law formulation, and thus it is ready to implement. An additive appealing feature is that the proposed controller has the abilities to protect the actuator from control effort saturation and compensate the partial loss of actuator effectiveness faults. An illustrative example is presented to demonstrate the effectiveness of the proposed approach.

Nonlinear PD Fault-Tolerant Control for Dynamic Positioning of Ships With Actuator Constraints

Navigation is a term with broad usage in everyday life and can mean the act of moving, moving through an unknown environment, ascertaining a craft's position, or even browsing on the Internet. Originally, the term meant the skill of sailing a ship, in particular steering and maneuvering, and is derived from the Latin words navis and agere, meaning "ship" and "to drive." The modern field of study of navigation in a scientific context usually relates to the ascertainment or determination of position, velocity, and orientation of some object relative to a reference point and is used for all type of crafts and vehicles, such as aircraft, ships, submarines, and cars.

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Nonlinear Observers for Integrated INS\/GNSS Navigation: Implementation Aspects

Multi-sensor integrated positioning technique that combines complementary features of the global positioning system (GPS) and inertial navigation system (INS) for navigation in challenging urban environments has been a hot research area. A variety of algorithms have been proposed over the past two decades for this well-studied field. However, with the increasing demands of seamless positioning, traditional GPS/INS integrated technique faces rigorous challenges, especially in GPS-denied environment, where traditional techniques cannot be applied directly. To improve the precision and robustness of the navigation system, a novel hybrid GPS/INS/Doppler velocity log (DVL) positioning method is proposed, which introduces DVL as the reference information to assist the GPS module to correct the divergence error of INS. A new robust adaptive federated strong tracking Kalman filter (RAFSTKF) algorithm is also presented for data fusion, which has the advantage of robustness with respect to the uncertainty of the system model. Meanwhile, we introduce the least square principle and adaptively adjust information sharing factors to obtain the optimal estimation, which can improve the reliability of the overall system. The theoretical analysis and simulation results demonstrate the effectiveness of the proposed hybrid GPS/INS/DVL positioning method based on RAFSTKF. In addition, the tracking performance of the proposed method outperforms that of traditional federated Kalman filter.

/pdf/robust-gps-ins-dvl-navigation-and-positioning-method-using-2m66dshv3o.pdf

Robust GPS/INS/DVL Navigation and Positioning Method Using Adaptive Federated Strong Tracking Filter Based on Weighted Least Square Principle

We present two alternative methods for fault detection and isolation (FDI) with redundant MEMS inertial measurement units (IMUs) in inertial navigation systems (INS) based on nonlinear observers. The first alternative is based on the parity space method, while the second is expanded with quaternion-based averaging and FDI. Both alternatives are implemented and validated using data gathered in a full-scale experiment on an offshore vessel. Data from three identical MEMS IMUs and the vessel’s own industrial sensors is used to verify the methods’ FDI capabilities. The results reveal that when it comes to FDI of the IMUs’ angular rate sensors, there are differences between the two methods. The navigation algorithm based on quaternion weighting is essentially unaffected by the failure of an angular rate sensor, while the parity-space-method-based alternative experiences a perturbation. Nomenclature {b} BODY coordinate frame {t} Earth fixed tangent frame {e} Earth Centered Earth Fixed (ECEF) coordinate frame {i} Earth Centered Inertial (ECI) coordinate frame Rb Rotation matrix from frame {b} to frame {t} qb Unit quaternion representation of rotation from {b} to {t} ωib Angular velocity of {b} relative {i}, decomposed in {b} f ib Specific force of {b} decomposed in {t} ptb Position of {b} relative {t} decomposed in {t} vtb Velocity of {b} relative {t} decomposed in {t} φ,θ,ψ Euler angles: Roll, pitch, yaw μ Latitude λ Longitude S(·) Skew symmetric matrix such that S(z1)z2 = z1× z2 ‖ · ‖2 Euclidean vector norm In n×n identity matrix ⊗ Hamiltonian quaternion product TMO Translational motion observer NLO Nonlinear observer FDI Fault detection and isolation MEMS Microelectromechanical system IMU Inertial measurement unit INS Inertial navigation system

Redundant MEMS-Based Inertial Navigation Using Nonlinear Observers

In this article, we suggest that a strapdown inertial navigation system based on microelectromechanical system (MEMS) inertial sensors is a useful addition to a vessel with dynamic positioning (DP). We conduct full-scale experiments with MEMS inertial sensors on board a DP vessel operating off the Norwegian coast. The vessel operates in different scenarios, and the purpose is to showcase how low-cost MEMS sensors may complement or replace existing DP sensor systems. Employing nonlinear observers for estimating attitude, heave, velocity, and position, we go through the benefits and disadvantages, and some caveats, for the sensors and methods used in this article. Two different MEMS units are evaluated, aided by gyrocompasses and position reference systems. We evaluate the attitude, heave, and dead reckoning capabilities obtained with the presented estimators, in relation to relevant class notation, ultimately motivating the inclusion of new sensors and methods for dynamic positioning. The results related to attitude and heave are compared with data from well-proven industry standard vertical reference units while dead reckoning is evaluated with respect to the onboard position reference systems.

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On the Usage of Low-Cost MEMS Sensors, Strapdown Inertial Navigation, and Nonlinear Estimation Techniques in Dynamic Positioning

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Robert H. Rogne

Papers

Nonlinear Observers for Integrated INS\/GNSS Navigation: Implementation Aspects

Redundant MEMS-Based Inertial Navigation Using Nonlinear Observers

On the Usage of Low-Cost MEMS Sensors, Strapdown Inertial Navigation, and Nonlinear Estimation Techniques in Dynamic Positioning

Observer and IMU-based detection and isolation of faults in position reference systems and gyrocompasses with dual redundancy in dynamic positioning

Attitude and Heave Estimation for Ships using MEMS-based Inertial Measurements