Design of GPS-aided Dead Reckoning Algorithm of AUV using Extended Kalman Filter

강, 현석; 홍, 승민; 서, 주노; 김, 준영

doi:10.5574/ksoe.2017.31.1.028

Journal of Ocean Engineering and Technology

2017

DOI: 10.5574/ksoe.2017.31.1.028

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Design of GPS-aided Dead Reckoning Algorithm of AUV using Extended Kalman Filter

현석 강¹,

승민 홍²,

주노 서³

et al.

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Cited by 3 publications

References 7 publications

(4 reference statements)

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MCTLS-Assisted Completed SINS/GPS Integrated and Applied to Low-Cost Attitude and Heading Reference System

Tao

Song

Weng

2021

Mathematical Problems in Engineering

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In this paper, a robust heading determination method is proposed for low-cost attitude and heading reference system (AHRS) aided by the global positioning system (GPS). As compared with the traditional GPS/SINS-integrated navigation-based heading determination method, in the proposed method, the heading information obtained from the GPS velocity outputs is first incorporated into the observation vector, which constructs a novel completed GPS/SINS integration framework and greatly improves the observability of azimuthal misalignment in the Kalman filter. Moreover, a multivariate constrained total least square (MCTLS) method is proposed and integrated into the completed integration framework to deal with the measurement error in both input and output data of GPS velocity measurement model, which improves the accuracy of the observed heading information and yields a robust heading estimation at each time instant. Simulation and experiment results demonstrate that the proposed robust heading determination method can outperform the related state-of-the-art methods for the GPS-aided attitude and heading reference system.

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MCTLS-Assisted Completed SINS/GPS Integrated and Applied to Low-Cost Attitude and Heading Reference System

Tao

Song

Weng

2021

Mathematical Problems in Engineering

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Navigation System for a Deep-sea ROV Fusing USBL, DVL, and Heading Measurements

Lee¹,

Shim²,

Baek³

et al. 2017

J. Ocean Eng. Technol.

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GPS and Inertial Sensor-based Navigation Alignment Algorithm for Initial State Alignment of AUV in Real Sea

Kim¹,

Lee²,

Lee³

et al. 2020

J. Korea Robot. Soc.

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Design of GPS-aided Dead Reckoning Algorithm of AUV using Extended Kalman Filter

Cited by 3 publications

References 7 publications

MCTLS-Assisted Completed SINS/GPS Integrated and Applied to Low-Cost Attitude and Heading Reference System

MCTLS-Assisted Completed SINS/GPS Integrated and Applied to Low-Cost Attitude and Heading Reference System

Navigation System for a Deep-sea ROV Fusing USBL, DVL, and Heading Measurements

GPS and Inertial Sensor-based Navigation Alignment Algorithm for Initial State Alignment of AUV in Real Sea

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