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

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HASHEMI MOJTABA; KARMOOZDY ALI; NADERI ALIREZA; SALARIEH HASSAN

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Journal: Modares Mechanical Engineering Year:2017 | Volume:16 | Issue:11 Page(s): 235-243

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Title

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 | Issue Writer Certificate

Keywords

INSQ2

DVLQ1

UNDERWATER NAVIGATIONQ1

IGRFQ1

FLUXQ1

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.

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APA: Copy

HASHEMI, MOJTABA, KARMOOZDY, ALI, NADERI, ALIREZA, & SALARIEH, HASSAN. (2017). DEVELOPMENT OF AN INTEGRATED NAVIGATION ALGORITHM BASED ON IMU, DEPTH, DVL SENSORS AND EARTH MAGNETIC FIELD MAP. MODARES MECHANICAL ENGINEERING, 16(11 ), 235-243. SID. https://sid.ir/paper/178911/en

Vancouver: Copy

HASHEMI MOJTABA, KARMOOZDY ALI, NADERI ALIREZA, SALARIEH HASSAN. DEVELOPMENT OF AN INTEGRATED NAVIGATION ALGORITHM BASED ON IMU, DEPTH, DVL SENSORS AND EARTH MAGNETIC FIELD MAP. MODARES MECHANICAL ENGINEERING[Internet]. 2017;16(11 ):235-243. Available from: https://sid.ir/paper/178911/en

IEEE: Copy

MOJTABA HASHEMI, ALI KARMOOZDY, ALIREZA NADERI, and HASSAN SALARIEH, “DEVELOPMENT OF AN INTEGRATED NAVIGATION ALGORITHM BASED ON IMU, DEPTH, DVL SENSORS AND EARTH MAGNETIC FIELD MAP,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 11 , pp. 235–243, 2017, [Online]. Available: https://sid.ir/paper/178911/en

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