A novel EM-Log aided gyrocompass alignment for in-motion marine SINS

Sun, Feng; Xia, Jianzhong; Ben, Yueyang; Zu, Yue

doi:10.1016/j.ijleo.2015.05.113

Cited by 3 publications

(4 citation statements)

References 12 publications

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“…If τ is too small, the information of the process model will be also lost. According to the research result of [27], the optimal range of the turning parameter is τ ∈ [2,6], which has better estimation performance and estimation accuracy. The forgetting factor ξ also adjusts the influence ofR k−1 .…”

Section: The Proposed Adaptive Cubature Kalman Filtermentioning

confidence: 99%

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An Improved SINS Alignment Method Based on Adaptive Cubature Kalman Filter

Zhang

Liu

2019

Sensors

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Initial alignment is critical and indispensable for the inertial navigation system (INS), which determines the initial attitude matrix between the reference navigation frame and the body frame. The conventional initial alignment methods based on the Kalman-like filter require an accurate noise covariance matrix of state and measurement to guarantee the high estimation accuracy. However, in a real-life practical environment, the uncertain noise covariance matrices are often induced by the motion of the carrier and external disturbance. To solve the problem of initial alignment with uncertain noise covariance matrices and a large initial misalignment angle in practical environment, an improved initial alignment method based on an adaptive cubature Kalman filter (ACKF) is proposed in this paper. By virtue of the idea of the variational Bayesian (VB) method, the system state, one step predicted error covariance matrix, and measurement noise covariance matrix of initial alignment are adaptively estimated together. Simulation and vehicle experiment results demonstrate that the proposed method can improve the accuracy of initial alignment compared with existing methods.

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Section: The Proposed Adaptive Cubature Kalman Filtermentioning

confidence: 99%

“…δω n ie = 0; −ω ie sinLδL; ω ie cosLδL (6) δω n en = − δv n N R e ; δv n E R e ; δv n E tan L+ṽ n E sec 2 LδL R e (7) Therefore,ω n in and δω n in are given as follows:…”

mentioning

confidence: 99%

An Improved SINS Alignment Method Based on Adaptive Cubature Kalman Filter

Zhang

Liu

2019

Sensors

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“…Among them, systems such as LBL (Zhang et al, 2018) and USBL (Wang et al, 2020) require a separate infrastructure. On the other hand, DVL (Yao et al, 2017(Yao et al, , 2019Zhu and He, 2020;Hou et al, 2021) and EM-log (Vaisgant et al, 2011;Sun et al, 2015) are equipped in the vehicle's body and are suitable for voyages over long distances. These two sensors are similar in a sense that both provide the vehicle's relative velocity to the sea current to perform the relative navigation, but their principles are quite different.…”

Section: Introductionmentioning

confidence: 99%

Sea current relative navigation using interacting multiple model filter with adaptive fading technique

2022

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In this paper, we propose a sea current relative navigation method using an interacting multiple model (IMM) filter with adaptive fading technique that can compensate an inaccurate sea current dynamics model. Due to the marine environment, the underwater vehicles largely depend on inertial navigation. Unfortunately, since its performance deteriorates with time, it is usually aided by another sensor. An electromagnetic-log (EM-log) and a Doppler velocity log (DVL), which are mainly used in marine navigation, provide relative velocity measurements to the sea currents, and hence require an accurate sea current dynamics model to fully utilise them. However, it is difficult to reflect the actual sea current changes with just a single fixed model, resulting in degraded overall navigation performance. Therefore, this paper proposes an IMM filter that can use multiple sea current dynamics models and has sub-filters designed with adaptive fading extended Kalman filter (AFEKF) to compensate for the mismodelling of sea current dynamics. The method is verified by simulation and shows a performance improvement comparable to the optimal filter.

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“…In Reference [10], electromagnetic log (EM-log) is used to track the maneuver velocity of the vessel and remove the earth rotation angular velocity and the angular velocity of the navigation frame relative to the earth frame from accelerometer measurements. By changing the structure of gyrocompass alignment loop, EM-log measurements can also be employed to reduce the negative effects of vessel accelerations and make compensation for east and azimuth misalignment angle.…”

Section: Introductionmentioning

confidence: 99%

A Novel Method for Determination on Switch Timing Between Damping and Non-Damping Status of Strapdown Fiber Optic Gyrocompass

2020

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It is necessary to locate the precise timing of switching into non-damping mode when the ship comes across zigzag maneuver, which helps avoid overshoot errors and maintain accuracy of ship's attitudes. In this paper, we propose a novel method to make the right decision on the damping/non-damping switch timing selection. Ship's in-motion data, collected by the gyrocompass system in advance, will first be pre-processed using wavelet denoising procedure and then treat as support vector machine (SVM) training input. Once the model is established, strapdown fiber optic gyrocompass (FOGC) can be equipped with the ability of self-judgment on when to cut off the alignment closed loops to become invulnerable and when to let it back online to remain stable by means of SVM classification schemes for switch timing recognition. Results show our method has better performance in the time of ships maneuver compared to the whole course damping network solution. Furthermore, transverse comparisons indicate our Wavelet-SVM method has better performance than BP neural network and traditional threshold method during maneuvering navigation process. INDEX TERMS Strapdown gyrocompass, alignment loops, switch timing, support vector machine, wavelet denoising.

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A novel EM-Log aided gyrocompass alignment for in-motion marine SINS

Cited by 3 publications

References 12 publications

An Improved SINS Alignment Method Based on Adaptive Cubature Kalman Filter

An Improved SINS Alignment Method Based on Adaptive Cubature Kalman Filter

Sea current relative navigation using interacting multiple model filter with adaptive fading technique

A Novel Method for Determination on Switch Timing Between Damping and Non-Damping Status of Strapdown Fiber Optic Gyrocompass

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