Journal ArticleDOI
INS/GPS Aided by Frequency Contents of Vector Observations With Application to Autonomous Surface Crafts
TLDR
In this article, the authors presented a high-accuracy, multirate inertial navigation system integrating global positioning system (GPS) measurements and advanced vector aiding techniques for precise position and attitude estimation of autonomous surface crafts (ASCs).Abstract:
This paper presents a high-accuracy, multirate inertial navigation system (INS) integrating global positioning system (GPS) measurements and advanced vector aiding techniques for precise position and attitude estimation of autonomous surface crafts (ASCs). Designed to be implemented and tested in the DELFIMx catamaran developed at ISR/IST, the navigation system comprises an advanced inertial integration algorithm to account for coning and sculling motions, combined with an extended Kalman filter (EKF) for inertial sensor error compensation. Aiding gravitational observations are optimally exploited in the EKF, by deriving a sensor integration technique that takes into account the vehicle's dynamics bandwidth information to properly trace measurement disturbances and extract the relevant sensor information. The proposed aiding technique and the performance of the navigation system are assessed using experimental data obtained at seatrials with a low-cost hardware architecture installed on-board the DELFIMx platform. It is shown that the low frequency information embodied in pendular measurements improves the compensation of inertial sensor bias and noise, and consequently enhances the performance of position and attitude estimation. The overall improvements obtained with the vector aiding observations are also illustrated for the case of GPS signal outage, emphasizing the extended autonomy of the navigation system with respect to position aiding.read more
Citations
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Journal ArticleDOI
Unmanned surface vehicles: An overview of developments and challenges
TL;DR: An overview of both historical and recent USVs development is provided, along with some fundamental definitions, and existing USVs GNC approaches are outlined and classified according to various criteria, such as their applications, methodologies, and challenges.
Journal ArticleDOI
Tightly coupled ultrashort baseline and inertial navigation system for underwater vehicles: An experimental validation
TL;DR: Improved and faster convergence to nominal trajectories from multiple initial conditions, as well as enhanced accelerometer and rate gyros estimation capabilities, are demonstrated experimentally for the new tightly coupled filter.
Journal ArticleDOI
Embedded Vehicle Dynamics Aiding for USBL/INS Underwater Navigation System
TL;DR: An embedded vehicle dynamics (VD) aiding technique to enhance position, velocity, and attitude error estimation in low-cost inertial navigation systems (INSs), with application to underwater vehicles.
Journal ArticleDOI
l2-l∞ filtering for multirate nonlinear sampled-data systems using T-S fuzzy models
TL;DR: The fuzzy multirate filter with guaranteed energy-to-peak (l"2-l"~) performance is designed by solving a set of linear matrix inequalities (LMIs) by employing the Takagi-Sugeno (T-S) fuzzy model to represent the nonlinear system.
Journal ArticleDOI
Mobile Sensor Networks: System Hardware and Dispatch Software
TL;DR: The article addresses how to solve different coverage problems by using a purely mobile WSN and then investigates how to dispatch mobile sensors in a hybrid WSN to perform various missions including data collection, faulty recovery, and event analysis.
References
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TL;DR: This is the first book on the optimal estimation that places its major emphasis on practical applications, treating the subject more from an engineering than a mathematical orientation, and the theory and practice of optimal estimation is presented.
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TL;DR: In this paper, the Discrete Kalman Filter (DFL) is used for smoothing and prediction linearization in the Global Positioning System (GPS) and a case study is presented.
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