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Fuzja danych nawigacyjnych w przestrzeni filtru Kalmana

100%

Stateczny A. , Lisaj A. , Chafan M.

Zeszyty Naukowe / Akademia Morska w Szczecinie

2006

tom nr 11 (83)

279-286

W artykule przedstawiono problem wielosensorowej fuzji danych nawigacyjnych. Podano konfigurację wielosensorowego filtru Kalmana, opracowanego w celu wyznaczania wektora stanu obiektu, opartego na jednorodnych danych pozyskiwanych za pomocą zestawu odbiorników satelitarnych.

The article deals with a problem of multisensor navigational data fusion. The multisensor Kalman filter's configuration is given. The filter has been developed to determine an object vector based on uniform data obtained by a set of satellite receivers.

A PPP baseline approach for bridge passing

84%

Lass C.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

2023

tom Vol. 17 No. 1

33--40

Global Navigation Satellite Systems (GNSS) are increasingly used as the main source of Positioning, Navigation and Timing (PNT) information for inland water navigation. In order to enable automated driving and facilitate driver assistant functions, it becomes of crucial importance to ensure high reliability and accuracy of the GNSS-based navigation solution, especially in challenging environments. One challenging phase of inland waterway navigation is bridge passing which leads to non-line-of-sight (NLOS) effects such as multipath and loss of tracking. This work presents a Precise Point Positioning (PPP) based algorithm in a two-antenna system where one antenna is at the bow and the other is at the stern. Additionally, gyroscope data from an IMU is used. In contrast to a separated position calculation of the two antennas, only one antenna position is estimated and the other is derived from the baseline between the antennas. This allows for accurate positioning even if one antenna does not receive any GNSS measurements. The presented scheme is evaluated using real measurement data from an inland water scenario with multiple bridges. In comparison with a standard PPP scheme as well as an RTK algorithm, the presented approach shows clear advantages in challenging scenarios.

Intelligent fusion of navigational data

84%

Lisaj A. , Chafan M. M. A.

Polish Journal of Environmental Studies

2005

tom 14

nr Suppl.1

The following paper presents an innovative concept of multisensor navigational data fusion. It illustrates a few various possibilities of applying a solution to the problem of navigational information managing in reference to some ship equipment which receive a set of data from many sources. The right verification of the Information will enable safety in vessel maneuvering and will ease the whole sea transport process to the watch officer.