Abstract
Navigation is a precondition for ocean space vehicles to work safely in polar regions. The traditional polar algorithms employ the grid strapdown inertial navigation system (SINS) as the backbone and Doppler velocity log (DVL) output velocity as measurements to constitute the integrated navigation system, of which, however, the position errors still accumulate with time. The ultra-short baseline (USBL) position system can provide position information that can be used to improve the performance of the SINS/DVL integrated system. Therefore, a grid SINS/DVL/USBL integrated algorithm for polar navigation is proposed in this paper. In order to extend the availability of the USBL and improve integration accuracy in polar regions, the USBL observation model is established based on the relative position measurement firstly. Then, a grid SINS/DVL/USBL integrated algorithm is proposed to fuse the information of these sensors with a modified Kalman filter (MKF) dealing with the sparse USBL output. Finally, a vector fault detection method, which takes the measurements as detection objects instead of the filter, is designed to locate the measurement fault and can be employed by the centralized filter to improve the fault-tolerant. Simulation and experiment results show that the proposed grid SINS/DVL/USBL integrated navigation system can further restrain SINS errors especially the position errors effectively. Meanwhile, the vector fault detection method can detect and isolate the fault measurements of centralized filter immediately and accurately. Therefore, the proposed fault-tolerant grid SINS/DVL/USBL integrated navigation algorithm can improve the reliability and accuracy of polar navigation for ocean space application.
Highlights
More and more significant scientific research is carried out in the ocean of the polar regions [1,2].The high-precision and highly reliable navigation is the precondition for ocean space vehicles to operate normally and safely [3]
A vector fault detection method, which takes the measurements as detection objects instead of the filter, is designed to locate the measurement fault and can be employed by the centralized filter to improve the fault-tolerant
A fault-tolerant grid strapdown inertial navigation system (SINS)/Doppler velocity log (DVL)/ultra-short baseline (USBL) integrated navigation algorithm based on the centralized filter and relative position information is proposed to improve the performance of ocean space navigation systems in polar regions
Summary
More and more significant scientific research is carried out in the ocean of the polar regions [1,2].The high-precision and highly reliable navigation is the precondition for ocean space vehicles to operate normally and safely [3]. More and more significant scientific research is carried out in the ocean of the polar regions [1,2]. The strapdown inertial navigation system (SINS) has been widely used for polar vehicles, especially for the underwater vehicles due to its highly autonomous [4]. Navigation with a single sensor or a single system is often insufficient, so the SINS-based integrated navigation technology is a potential method for polar navigation [5,6,7,8]. The traditional integrated navigation algorithms are based on a north-oriented geographic framework and will lose efficacy in polar regions because of the meridian convergence [9]. The geomagnetic navigations may Sensors 2019, 19, 3899; doi:10.3390/s19183899 www.mdpi.com/journal/sensors
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