Shipborne high-accuracy heading determination method using INS- and GPS-based heading determination system

Hu, Peida; Huang, Chunan

doi:10.1007/s10291-016-0590-5

Cited by 11 publications

(5 citation statements)

References 19 publications

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“…There are also related works on collision avoidance such as those of Flåten and Brekke [18] and Chen et al [19]. Works similar to ours that used sensor fusion in deriving a more accurate heading for navigation were by Hu and Huang [20] and Juang and Lin [21] while there were others that focused on the improved position and attitude aside from the heading such as those by Jaroś et al [22], Bryne [23], Núñez et al [24], and Feng-de et al [25].…”

Section: Introductionmentioning

confidence: 77%

Design, Development, and Deployment of Real-Time Sensor Fusion (CnW + EKF) for a Linux-Based Embedded System Using Qt-Anywhere

Vista

Chong

2018

Journal of Sensors

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This paper describes the design, development, and implementation of a real-time sensor fusion system that utilizes the classification and weighing plus extended Kalman filter algorithm to derive heading for navigation using inexpensive sensors. This algorithm was previously tested only through postprocessing using MATLAB and is now reprogrammed using Qt and deployed on a Linux-based embedded board for real-time operation. Various data from inexpensive sensors such as global positioning system devices, an electronic compass, and an inertial measurement unit were utilized to ultimately derive a more reliable and accurate heading value. The algorithm flow can be described with the GPS values first being evaluated and classified which are then fused with the EC heading using classification and weighing, whose result is then passed through an EKF to fuse with the IMU data. Real-time tests and trials were done to prove the operational capability of the developed process. The complete setup and configuration processes of the systems for development and deployment via Qt are also provided for those interested to replicate the process.

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Section: Introductionmentioning

confidence: 77%

Design, Development, and Deployment of Real-Time Sensor Fusion (CnW + EKF) for a Linux-Based Embedded System Using Qt-Anywhere

Vista

Chong

2018

Journal of Sensors

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“…The new technology not only provides high-precision positioning and depth information [7][8][9], but also expands the technical means of obtaining information on oceanographic surveys. For example, in order to improve the accuracy of ocean measurement and reduce the input of artificial stations, researchers around the world are committed to the use of high-precision GNSS [10] for shipborne navigation [11,12] measurement in recent years.…”

Section: Introductionmentioning

confidence: 99%

The Sea Route Planning for Survey Vessel Intelligently Navigating to the Survey Lines

Liu

Yang

et al. 2022

Sensors

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Marine surveying is an important part of marine environment monitoring systems. In order to improve the accuracy of marine surveying and reduce investment in artificial stations, it is necessary to use high-precision GNSS for shipborne navigation measurements. The basic measurement is based on the survey lines that are already planned by surveyors. In response to the needs of survey vessels sailing to the survey line, a method framework for the shortest route planning is proposed. Then an intelligent navigation system for survey vessels is established, which can be applied to online navigation of survey vessels. The essence of the framework is that the vessel can travel along the shortest route to the designated survey line under the limitation of its own minimum turning radius. Comparison and analysis of experiments show that the framework achieves better optimization. The experimental results show that our proposed method can enable the vessel to sail along a shorter path and reach the starting point of the survey line at the specified angle.

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“…An inertial baseline vectors by GNSS relative positioning, and then attitude information can be obtained (Medina et al 2020. Compared with an inertial navigation system, the multi-antenna GNSS attitude determination method has the advantages of low cost and no accumulated errors over time (Daneshmand andLachapelle 2017, Hu andHuang 2017). A multi-antenna GNSS can not only obtain high-precision attitude independently, but also provide attitude reference information for a low-cost inertial navigation system.…”

Section: Introductionmentioning

confidence: 99%

Multi-antenna GNSS tight combination attitude determination in the urban environment

Wenhao¹,

Liu²,

Gao³

et al. 2022

Meas. Sci. Technol.

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It is a challenging task to determine the dynamic vehicle attitude by using single-frequency single-epoch multi-antenna Global Navigation Satellite System (GNSS). In urban environment, the number of visible satellites drops sharply due to the occlusion of trees and tall buildings, hence it is difficult to obtain the high-precision attitude of vehicles only through multi-antenna GNSS. GNSS tight combination algorithm selects the same reference satellite between different systems, and can effectively increase the number of observation equations after eliminating the inter-system bias, to improve the attitude accuracy of vehicles in complex environments. Compared with the loose combination algorithm, which selects reference satellites separately between different systems, the tight combination algorithm can further improve the locatable performance when there are fewer satellites. Dynamic vehicle experiments were carried out in an open environment and complex environment respectively, using GPS/BDS/GALILEO three-system single-frequency and single-epoch positioning mode. The results show that the tight combination algorithm and the loose combination algorithm have the same accuracy when there are enough visible satellites in the open environment. In complex environment with a cut-off elevation angle of 40 degrees, the percentage of pitch angle error, yaw angle error and roll angle error within 2 degrees increased by 6.1%, 8.07% and 13.43% respectively , and the ambiguity fixed rate was increased by 14.78.

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Shipborne high-accuracy heading determination method using INS- and GPS-based heading determination system

Cited by 11 publications

References 19 publications

Design, Development, and Deployment of Real-Time Sensor Fusion (CnW + EKF) for a Linux-Based Embedded System Using Qt-Anywhere

Design, Development, and Deployment of Real-Time Sensor Fusion (CnW + EKF) for a Linux-Based Embedded System Using Qt-Anywhere

The Sea Route Planning for Survey Vessel Intelligently Navigating to the Survey Lines

Multi-antenna GNSS tight combination attitude determination in the urban environment

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