Navigation System for MACÁBOT an Autonomous Surface Vehicles Using GPS Aided Strapdown Inertial Navigation System

In this work the design, implementation and real-time tests of a navigation system for the autonomous surface vehicle MACÁBOT is presented. This vehicle represents a versatile platform to perform several tasks in the marine environment, such as; ports maintenance, marine productive ecosystems studie...

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Bibliographic Details
Published in:Revista IEEE América Latina 2019-06, Vol.17 (6), p.1009-1019
Main Authors: menna, B., villar, S., Acosta, G.
Format: Article
Language:English
Subjects:
Adaptive algorithms
Adaptive filters
Adaptive systems
Aided Inertial Navigation System
Artificial neural networks
Automobiles
Autonomous Surface Vehicles
Computer simulation
Extended Kalman Filter
Fuzzy Inference System
Fuzzy logic
Fuzzy systems
Global Positioning System
Global positioning systems
GPS
Inertial navigation
Kalman filters
Maintenance
Marine environment
Navigation systems
Performance evaluation
Real time
Robot Operating System
Satellite navigation systems
Sensor fusion
Strapdown inertial navigation
Surface vehicles
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Summary:In this work the design, implementation and real-time tests of a navigation system for the autonomous surface vehicle MACÁBOT is presented. This vehicle represents a versatile platform to perform several tasks in the marine environment, such as; ports maintenance, marine productive ecosystems studies and bathymetries. The navigation system is responsible for accurately determining the position, velocity and attitude of the vehicle. It represents a fundamental component to autonomously carry out any of the aforementioned tasks. In this work, the navigation system is developed based on a GPS aided strap-down inertial navigation system using an extended Kalman filter sensor fusion algorithm. In order to provide an adaptive approach to the sensor fusion algorithm tuning a fuzzy inference system is used. The navigation system was implemented as a package for the Robot Operating System, benefiting from the advantages of heterogeneity, integration and hardware abstraction. Real time tests of the MACÁBOT on a local creek were carried out, showing satisfactory performance of the navigation system in both position and velocity estimates. In addition to these tests, simulations of GPS outages were carried out with the registered data to evaluate the performance of the navigation system in such cases
ISSN:1548-0992
1548-0992
DOI:10.1109/TLA.2019.8896824