Paper Information

Journal:   MODARES MECHANICAL ENGINEERING   FEBRUARY 2017 , Volume 16 , Number 11 #F0072; Page(s) 235 To 243.
 
Paper: 

DEVELOPMENT OF AN INTEGRATED NAVIGATION ALGORITHM BASED ON IMU, DEPTH, DVL SENSORS AND EARTH MAGNETIC FIELD MAP

 
 
Author(s):  HASHEMI MOJTABA, KARMOOZDY ALI, NADERI ALIREZA, SALARIEH HASSAN*
 
* DEPARTMENT OF MECHANICAL ENGINEERING, SHARIF UNIVERSITY OF TECHNOLOGY, TEHRAN, IRAN
 
Abstract: 

Inertial navigation system has drift error in underwater applications. Use of DVL with Kalman filter for position and attitude correction is common. Using velocity data decreases drift error in position estimation but this error exists and increases linearity with time. In this article the navigation system consists of inertial measurement unit (IMU) and a Doppler velocity log (DVL) along with depth sensor.
By use of magnetic field measurement and earth magnetic field map a new measurement is generated.
Discrete extended Kalman filter with indirect feedback is used for tightly coupled integrated navigation algorithm. This algorithm is based on inertial navigation error dynamics. This paper demonstrates the effectiveness of algorithm through simulation. The procedure of simulation is done by sensor data generation. Arbitrary trajectory with specific kinematic characteristic (linear and angular velocity and acceleration) is generated. Sensor data is produced by adding noise and bias to kinematic characteristic of trajectory. Simulation results reveal that the new algorithm with use of magnetic data and earth magnetic field map decreases the drift error in comparison to conventional INS-DVL integrated navigation algorithm.

 
Keyword(s): INS, DVL, UNDERWATER NAVIGATION, IGRF, FLUX
 
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