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Development of Cascade Fuzzy Filters in Integrated INS-DVL-GPS Navigation

Soleimani, Rasoul | 2017

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 51098 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Salarieh, Hassan
  7. Abstract:
  8. Navigation is the science of determining the velocity and attitude of a moving object in every given moment. There have been many methods for navigation. Nowadays with the advancement of technology, advanced navigation systems have been developed. Although each of these navigation systems have their pros and cons, in order to improve the overall performance of the system and to solve their problems, these systems are integrated.The goal of this project is to present an integrated cascade method to decrease error and also decrease dependence on GPS. In this project, INS, DVL & GPS are integrated with the cascade method.To achieve this, INS-GPS and INS-DVL integration are first performed. The fuzzy filter learns from the error between the output of integrated INS-GPS and INS-DVL. After this the error between INS-GPS and INS-DVL is corrected by the predicted fuzzy filter (without using GPS) and the output of integrated INS-DVL.The advantage of this method is that there is no need for constant data reception from GPS, and at the same time an accuracy in the order of integrated INS-GPS.The goal of this research is the development of a general algorithm, an instead of DVL and GPS, other auxiliary sensors like cameras, laser distance meters, compasses, or a combination of these devices can be used
  9. Keywords:
  10. Navigation ; Integration ; Gyroscope ; Accelerometer ; Doppler Velocity Log (DVL) ; Global Position System (GPS)

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