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Sensors 2017, 17(2), 239; doi:10.3390/s17020239

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

College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China
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Author to whom correspondence should be addressed.
Academic Editors: Cheng Wang, Julian Smit, Ayman F. Habib and Michael Ying Yang
Received: 30 November 2016 / Revised: 14 January 2017 / Accepted: 19 January 2017 / Published: 3 February 2017
(This article belongs to the Special Issue Multi-Sensor Integration and Fusion)
View Full-Text   |   Download PDF [6906 KB, uploaded 3 February 2017]   |  

Abstract

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. View Full-Text
Keywords: Inertial Navigation System; Celestial Navigation System; Doppler Velocity Log; integrated navigation; federated filter Inertial Navigation System; Celestial Navigation System; Doppler Velocity Log; integrated navigation; federated filter
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Wang, Q.; Cui, X.; Li, Y.; Ye, F. Performance Enhancement of a USV INS/CNS/DVL Integration Navigation System Based on an Adaptive Information Sharing Factor Federated Filter. Sensors 2017, 17, 239.

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