Loading...

Enhancing the robustness of INS-DVL navigation using rotational model of AUV in the presence of model uncertainty

Ramezanifard, A ; Sharif University of Technology | 2022

116 Viewed
  1. Type of Document: Article
  2. DOI: 10.1109/JSEN.2022.3167267
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2022
  4. Abstract:
  5. Nowadays, Autonomous Underwater Vehicles (AUV) are used in environmental studies, ocean floor mapping, and measuring water properties. Navigation of these vehicles is one of the most challenging issues due to the unavailability of global positioning system (GPS) signal underwater. Inertial navigation is a method commonly used for underwater navigation. If a low-cost Inertial Measurement Unit (IMU) is used, navigation quality will decline rapidly due to sensor inherent error. Although using a Doppler Velocity Log (DVL) speedometer sensor helps limit this error to some extent, it does not yield acceptable accuracy in low-cost IMUs. Filtering the gyro based on the AUV rotational dynamics model can improve the quality of angular velocity measurements and increase the Inertial Navigation System (INS)-DVL navigation accuracy. The presence of uncertainty in the rotational model parameters reduces the navigation algorithm's performance. In this paper, at first, a simplified rotational model of AUV is presented, and its parameters are identified utilizing data acquired in real experiments. Then a robust Kalman filter for gyro output is proposed to enhance the navigation algorithm performance in the presence of model parameter uncertainty. To evaluate the performance of the proposed method, non-robust and robust filtered gyro outputs are used in the INS-DVL algorithm, and the results are compared with each other. Two types of the robust Kalman filter, stationary and finite horizon, are invoked. According to the field tests, navigation error decreases by 50% using the stationary robust Kalman filter compared to the non-robust Kalman filter. © 2001-2012 IEEE
  6. Keywords:
  7. AUV ; Kalman filter ; Robust Kalman filter ; Air navigation ; Autonomous underwater vehicles ; Bandpass filters ; Costs ; Errors ; Global positioning system ; Gyroscopes ; Inertial navigation systems ; Kalman filters ; Parameter estimation ; Uncertainty analysis ; Velocity ; Aided navigations ; Autonomous underwater vehicles] ; Doppler velocity logs ; Low-costs ; Model-aided navigation ; Modeling parameters ; Of autonomous underwater vehicles ; Robust Kalman filters ; Rotational models ; Underwater navigation ; Velocity measurement
  8. Source: IEEE Sensors Journal ; Volume 22, Issue 11 , 2022 , Pages 10931-10939 ; 1530437X (ISSN)
  9. URL: https://ieeexplore.ieee.org/document/9756976