Next Article in Journal
A Sensor Data Fusion System Based on k-Nearest Neighbor Pattern Classification for Structural Health Monitoring Applications
Next Article in Special Issue
On the Error State Selection for Stationary SINS Alignment and Calibration Kalman Filters—Part II: Observability/Estimability Analysis
Previous Article in Journal
Dynamic Fluid in a Porous Transducer-Based Angular Accelerometer
Previous Article in Special Issue
Micromachined Fluid Inertial Sensors
Article Menu
Issue 2 (February) cover image

Export Article

Open AccessTechnical Note
Sensors 2017, 17(2), 415; doi:10.3390/s17020415

Inertial Navigation System/Doppler Velocity Log (INS/DVL) Fusion with Partial DVL Measurements

1
Faculty of Mechanical Engineering, Technion-Israel Institute of Technology, Haifa 3200003, Israel
2
Rafael Advanced Defense Systems Ltd, Haifa 3102102, Israel
*
Author to whom correspondence should be addressed.
Academic Editor: Jörg F. Wagner
Received: 29 November 2016 / Revised: 26 January 2017 / Accepted: 14 February 2017 / Published: 22 February 2017
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
View Full-Text   |   Download PDF [5264 KB, uploaded 22 February 2017]   |  

Abstract

The Technion autonomous underwater vehicle (TAUV) is an ongoing project aiming to develop and produce a small AUV to carry on research missions, including payload dropping, and to demonstrate acoustic communication. Its navigation system is based on an inertial navigation system (INS) aided by a Doppler velocity log (DVL), magnetometer, and pressure sensor (PS). In many INSs, such as the one used in TAUV, only the velocity vector (provided by the DVL) can be used for aiding the INS, i.e., enabling only a loosely coupled integration approach. In cases of partial DVL measurements, such as failure to maintain bottom lock, the DVL cannot estimate the vehicle velocity. Thus, in partial DVL situations no velocity data can be integrated into the TAUV INS, and as a result its navigation solution will drift in time. To circumvent that problem, we propose a DVL-based vehicle velocity solution using the measured partial raw data of the DVL and additional information, thereby deriving an extended loosely coupled (ELC) approach. The implementation of the ELC approach requires only software modification. In addition, we present the TAUV six degrees of freedom (6DOF) simulation that includes all functional subsystems. Using this simulation, the proposed approach is evaluated and the benefit of using it is shown. View Full-Text
Keywords: Doppler velocity log/inertial navigation system (DVL/INS) fusion; loosely coupled; tightly coupled; autonomous underwater vehicle six degrees of freedom (AUV 6DOF) simulation; partial measurement Doppler velocity log/inertial navigation system (DVL/INS) fusion; loosely coupled; tightly coupled; autonomous underwater vehicle six degrees of freedom (AUV 6DOF) simulation; partial measurement
Figures

Figure 1

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).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Tal, A.; Klein, I.; Katz, R. Inertial Navigation System/Doppler Velocity Log (INS/DVL) Fusion with Partial DVL Measurements. Sensors 2017, 17, 415.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top