Abstract
Currently Global Navigation Satellite Systems (GNSSs) are the primary source for the determination of absolute position, navigation, and time (PNT) for merchant vessel navigation. Nevertheless, the performance of GNSSs can strongly degrade due to space weather events, jamming, and spoofing. Especially the increasing availability and adoption of low cost jammers lead to the question of how a continuous provision of PNT data can be realized in the vicinity of these devices. In general, three possible solutions for that challenge can be seen: (i) a jamming-resistant GNSS receiver; (ii) the usage of a terrestrial backup system; or (iii) the integration of GNSS with other onboard navigation sensors such as a speed log, a gyrocompass, and inertial sensors (inertial measurement unit—IMU). The present paper focuses on the third option by augmenting a classical IMU/GNSS sensor fusion scheme with a Doppler velocity log. Although the benefits of integrated IMU/GNSS navigation system have been already demonstrated for marine applications, a performance evaluation of such a multi-sensor system under real jamming conditions on a vessel seems to be still missing. The paper evaluates both loosely and tightly coupled fusion strategies implemented using an unscented Kalman filter (UKF). The performance of the proposed scheme is evaluated using the civilian maritime jamming testbed in the Baltic Sea.
Highlights
Maritime transport plays a key role in the global trade with nearly 80% of commodity volumes and70% of commodity values being transported by sea [1]
The present paper focuses on the third option by augmenting a classical inertial measurement unit (IMU)/Global Navigation Satellite Systems (GNSSs) sensor fusion scheme with a Doppler velocity log
The present paper focuses on an example from the third group, where a classical inertial measurement unit (IMU)/GNSS sensor fusion scheme is augmented with a Doppler velocity log (DVL)
Summary
Maritime transport plays a key role in the global trade with nearly 80% of commodity volumes and70% of commodity values being transported by sea [1]. Maritime transport plays a key role in the global trade with nearly 80% of commodity volumes and. The increasing transport volume leads to rapidly growing vessel dimensions and to an increase of traffic densities especially in coastal areas and port entrances. Navigation Satellite Systems (GNSSs), and GPS, are the main source for the provision of absolute position, navigation, and precise time (PNT) information for maritime navigation. Control just to name a few, are strongly dependent on the provision of accurate PNT information. As first conceptual studies and demonstration projects have been started with the aim to development fully autonomous vessels [2], the need for accurate and reliable PNT will increase even further in the future
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