Integration of inertial sensors and GPS system data for underwater navigation

• Autorzy: Bikonis K. , Demkowicz J. , Stepnowski A.
• Języki publikacji: EN

Abstrakty

EN

The Inertial Navigation System (INS) is usually employed to determine the position of an underwater vehicles, like Remotely Operated Vehicles (ROV) and, more recently, Autonomous Underwater Vehicle (AUV). The accuracy of the position provided by the INS, which uses accelerometers and gyroscopes, deteriorates with time. An external aiding sources such as the Global Positioning System (GPS) can be employed to reduce the error growth in the INS. The GPS aided INS system provides enhance positioning accuracy of the underwater vehicles compared to that of a stand-alone INS technique. In the paper integration algorithm of inertial sensors (accelerometers and gyroscopes) and GPS system data for underwater navigation is presented. For data integration algorithm External Kalman Filter (EKF) is proposed.

• Wydawca: Polskie Towarzystwo Akustyczne. Oddział Gdański
• Czasopismo: Hydroacoustics
• Rocznik: 2012
• Tom: Vol. 15
• Strony: 21--26
• Opis fizyczny: Bibliogr. 4 poz., rys.

Twórcy

autor

Bikonis K.

autor

Demkowicz J.

autor

Stepnowski A.

• Gdansk University of Technology Narutowicza 11/12, 80-233 Gdansk, Poland,

Bibliografia

• [1] N. Abdelkrim, A. Nabil, Robust INS/GPS sensor fusion for UAV localization using SDRE nonlinear filterin, IEEE Sensors Jurnal, Vol. 10, No. 4, 2010.
• [2] W. Ding, J. Wang, A. Almagbile, Adaptative filter design for UAV navigation with GPS/INS/optic flow integration, 2010 International Conference on Electrical and Control Engineering, 2010.
• [3] K. Maenaka, MEMS inertial sensors and their applications, 5th international conference on network sensing systems, INSS 2008.
• [4] J. Kedzierski, Filtr Kalmana - zastosowania w prostych ukladach sensorycznych, Wroclaw, Koło Naukowe Robotykow KoNaR, Politechnika Wroclawska, 2007.