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Article

Performance Evaluation of IMU and DVL Integration in Marine Navigation

1
Department of Maritime Systems Engineering, Tokyo University of Marine Science and Technology, Tokyo 135-8533, Japan
2
Maritime Technology and Logistics, Tokyo University of Marine Science and Technology, Tokyo 135-8533, Japan
*
Author to whom correspondence should be addressed.
Academic Editor: Chris Rizos
Sensors 2021, 21(4), 1056; https://doi.org/10.3390/s21041056
Received: 26 December 2020 / Revised: 22 January 2021 / Accepted: 1 February 2021 / Published: 4 February 2021
(This article belongs to the Special Issue Sensors and System for Vehicle Navigation)
Global navigation satellite system (GNSS) spoofing poses a significant threat to maritime logistics. Many maritime electronic devices rely on GNSS time, positioning, and speed for safe vessel operation. In this study, inertial measurement unit (IMU) and Doppler velocity log (DVL) devices, which are important in the event of GNSS spoofing or outage, are considered in conventional navigation. A velocity integration method using IMU and DVL in terms of dead-reckoning is investigated in this study. GNSS has been widely used for ship navigation, but IMU, DVL, or combined IMU and DVL navigation have received little attention. Military-grade sensors are very expensive and generally cannot be utilized in smaller vessels. Therefore, this study focuses on the use of consumer-grade sensors. First, the performance of a micro electromechanical system (MEMS)-based yaw rate angle with DVL was evaluated using 60 min of raw data for a 50 m-long ship located in Tokyo Bay. Second, the performance of an IMU-MEMS using three gyroscopes and three accelerometers with DVL was evaluated using the same dataset. A gyrocompass, which is equipped on the ship, is used as a heading reference. The results proved that both methods could achieve less than 1 km horizontal error in 60 min. View Full-Text
Keywords: inertial measurement unit; Doppler velocity log; global navigation satellite system; marine navigation inertial measurement unit; Doppler velocity log; global navigation satellite system; marine navigation
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MDPI and ACS Style

Fukuda, G.; Hatta, D.; Guo, X.; Kubo, N. Performance Evaluation of IMU and DVL Integration in Marine Navigation. Sensors 2021, 21, 1056. https://doi.org/10.3390/s21041056

AMA Style

Fukuda G, Hatta D, Guo X, Kubo N. Performance Evaluation of IMU and DVL Integration in Marine Navigation. Sensors. 2021; 21(4):1056. https://doi.org/10.3390/s21041056

Chicago/Turabian Style

Fukuda, Gen, Daisuke Hatta, Xiaoliang Guo, and Nobuaki Kubo. 2021. "Performance Evaluation of IMU and DVL Integration in Marine Navigation" Sensors 21, no. 4: 1056. https://doi.org/10.3390/s21041056

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