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Ocean Vehicle Inertial Navigation Method based on Dynamic Constraints

Published online by Cambridge University Press:  16 May 2018

Jiazhen Lu  and
Lili Xie
Jiazhen Lu*
Affiliation:
(Beihang University, 100191 Beijing, People's Republic of China)
Lili Xie
Affiliation:
(Beihang University, 100191 Beijing, People's Republic of China)
*
(E-mail: ljzbuaa@163.com)
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Abstract

This paper proposes a dynamic aided inertial navigation method to improve the attitude accuracy for ocean vehicles. The proposed method includes a dynamic identification algorithm and the utilisation of dynamic constraints to derive additional observations. The derived additional observations are used to update the filters and limit the attitude error based on the dynamic knowledge. In this paper, two dynamic conditions, constant speed cruise and quasi-static, are identified and corresponding additional velocity and position observations are derived. Simulation and experimental results show that the proposed method can improve and guarantee the accuracy of the attitude. The method can be used as a backup method to bridge external information outages or unavailability. Both the features of independence of external support and integrity of the Inertial Navigation System (INS) are enhanced.

Keywords

Ocean vehicleDynamic constraintInertial navigation systemAttitudeKalman filter
Type
Research Article
Information
The Journal of Navigation , Volume 71 , Issue 6 , November 2018 , pp. 1553 - 1566
Copyright
Copyright © The Royal Institute of Navigation 2018 

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