A Virtual Vertical Reference Concept for GNSS/INS Applications at the Sea Surface

被引：12

作者：

Bryne, Torleiv H. ^{[1
]}

Fossen, Thor I. ^{[1
]}

Johansen, Tor A. ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, Ctr Autonomous Marine Operat & Syst AMOS, N-7491 Trondheim, Norway

来源：

IFAC PAPERSONLINE | 2015年 / 48卷 / 16期

关键词：

Inertial navigation; Navigation systems; Position estimation; Nonlinear observers; Marine systems;

D O I：

10.1016/j.ifacol.2015.10.269

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Inertial navigation systems (INS) can be used to obtain estimates of the position, velocity and attitude, in a dead-reckoning fashion, for marine Vessels. To combat drift, aiding reference systems such as global navigation satellite systems are utilized. However, satellite based positioning systems typically provide less accurate measurements of the vertical position. This paper presents an alternative vertical aiding by introducing a virtual vertical reference concept, with respect to uncoupled and loosely coupled GNSS/INS integration, which improves the accuracy of nonlinear observers significantly when applied to strapdown inertial navigation. The estimation performance obtained with the virtual vertical reference concept is compared with the performance obtained with standalone GNSS, and differential corrected GNSS through simulations. (C) 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd.

引用

页码：127 / 133

页数：7

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