Performance Enhancement for Conventional Tightly Coupled INS/DVL Navigation System Using Regeneration of Partial DVL Measurements

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. I...

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Bibliographic Details
Published in:Journal of sensors 2020, Vol.2020 (2020), p.1-15
Main Authors: Kim, Daejoong, Yoon, Seonil, Kim, Moonhwan, Yoo, Taesuk
Format: Article
Language:English
Subjects:
Accuracy
Computer simulation
Coordinate transformations
Design
Estimation
Global positioning systems
GPS
Inertial navigation
Navigation systems
Ocean currents
Performance enhancement
Regeneration
Robustness (mathematics)
Satellite navigation systems
Sensors
Tidal currents
Transducers
Velocity
Velocity errors
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Summary: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.
ISSN:1687-725X
1687-7268
DOI:10.1155/2020/5324349