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Performance Enhancement of a USV INS/CNS/DVL Integration Navigation System Based on an Adaptive Information Sharing Factor Federated Filter

Wang, Qiuying ; Cui, Xufei ; Li, Yibing ; Ye, Fang

Sensors (Basel, Switzerland), 2017-02, Vol.17 (2), p.239-239 [Periódico revisado por pares]

Switzerland: MDPI AG

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Título:
Performance Enhancement of a USV INS/CNS/DVL Integration Navigation System Based on an Adaptive Information Sharing Factor Federated Filter
Autor: Wang, Qiuying ; Cui, Xufei ; Li, Yibing ; Ye, Fang
Assuntos: Adaptive filters ; Adaptive systems ; Autonomous navigation ; Autonomy ; Celestial navigation ; Celestial Navigation System ; Component reliability ; Divergence ; Doppler Velocity Log ; Error correction ; federated filter ; Federated filters ; Global navigation satellite system ; Inertial navigation ; Inertial Navigation System ; Information sharing ; integrated navigation ; Navigation systems ; Noise measurement ; Performance enhancement ; Position measurement ; Surface vehicles ; System effectiveness ; Unmanned vehicles ; Velocity ; Weather
É parte de: Sensors (Basel, Switzerland), 2017-02, Vol.17 (2), p.239-239
Notas: ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
Descrição: To improve the ability of autonomous navigation for Unmanned Surface Vehicles (USVs), multi-sensor integrated navigation based on Inertial Navigation System (INS), Celestial Navigation System (CNS) and Doppler Velocity Log (DVL) is proposed. The CNS position and the DVL velocity are introduced as the reference information to correct the INS divergence error. The autonomy of the integrated system based on INS/CNS/DVL is much better compared with the integration based on INS/GNSS alone. However, the accuracy of DVL velocity and CNS position are decreased by the measurement noise of DVL and bad weather, respectively. Hence, the INS divergence error cannot be estimated and corrected by the reference information. To resolve the problem, the Adaptive Information Sharing Factor Federated Filter (AISFF) is introduced to fuse data. The information sharing factor of the Federated Filter is adaptively adjusted to maintaining multiple component solutions usable as back-ups, which can improve the reliability of overall system. The effectiveness of this approach is demonstrated by simulation and experiment, the results show that for the INS/CNS/DVL integrated system, when the DVL velocity accuracy is decreased and the CNS cannot work under bad weather conditions, the INS/CNS/DVL integrated system can operate stably based on the AISFF method.
Editor: Switzerland: MDPI AG
Idioma: Inglês

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Performance Enhancement of a USV INS/CNS/DVL Integration Navigation System Based on an Adaptive Information Sharing Factor Federated Filter

Wang, Qiuying ; Cui, Xufei ; Li, Yibing ; Ye, Fang

Switzerland: MDPI AG

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