Next Article in Journal
An Autonomous Vehicle Navigation System Based on Inertial and Visual Sensors
Next Article in Special Issue
New Approaches to the Integration of Navigation Systems for Autonomous Unmanned Vehicles (UAV)
Previous Article in Journal
A New Structural Health Monitoring Strategy Based on PZT Sensors and Convolutional Neural Network
Previous Article in Special Issue
An Integrated Dead Reckoning with Cooperative Positioning Solution to Assist GPS NLOS Using Vehicular Communications
Article Menu
Issue 9 (September) cover image

Export Article

Open AccessArticle
Sensors 2018, 18(9), 2954; https://doi.org/10.3390/s18092954

Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions

1
German Aerospace Center (DLR), Institute of Communications and Navigation, Neustrelitz 17235, Germany
2
BASELABS GmbH, Chemnitz 09126, Germany
*
Author to whom correspondence should be addressed.
Received: 14 June 2018 / Revised: 3 September 2018 / Accepted: 3 September 2018 / Published: 5 September 2018
(This article belongs to the Special Issue GNSS and Fusion with Other Sensors)
Full-Text   |   PDF [7718 KB, uploaded 5 September 2018]   |  

Abstract

Currently Global Navigation Satellite Systems (GNSSs) are the primary source for the determination of absolute position, navigation, and time (PNT) for merchant vessel navigation. Nevertheless, the performance of GNSSs can strongly degrade due to space weather events, jamming, and spoofing. Especially the increasing availability and adoption of low cost jammers lead to the question of how a continuous provision of PNT data can be realized in the vicinity of these devices. In general, three possible solutions for that challenge can be seen: (i) a jamming-resistant GNSS receiver; (ii) the usage of a terrestrial backup system; or (iii) the integration of GNSS with other onboard navigation sensors such as a speed log, a gyrocompass, and inertial sensors (inertial measurement unit—IMU). The present paper focuses on the third option by augmenting a classical IMU/GNSS sensor fusion scheme with a Doppler velocity log. Although the benefits of integrated IMU/GNSS navigation system have been already demonstrated for marine applications, a performance evaluation of such a multi-sensor system under real jamming conditions on a vessel seems to be still missing. The paper evaluates both loosely and tightly coupled fusion strategies implemented using an unscented Kalman filter (UKF). The performance of the proposed scheme is evaluated using the civilian maritime jamming testbed in the Baltic Sea. View Full-Text
Keywords: maritime navigation; GNSS; GNSS jamming; integrated navigation systems; Kalman filtering; Doppler velocity log; inertial sensors maritime navigation; GNSS; GNSS jamming; integrated navigation systems; Kalman filtering; Doppler velocity log; inertial sensors
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

Share & Cite This Article

MDPI and ACS Style

Ziebold, R.; Medina, D.; Romanovas, M.; Lass, C.; Gewies, S. Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions. Sensors 2018, 18, 2954.

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