This paper presents a VD (Vehicle Dynamics) aiding technique to enhance position, velocity, and attitude error estimation in low-cost Inertial INS (Inertial Navigation Systems), with application to UV (Underwater Vehicles). The VD model is directly embedded in an EFK (Extended Kalman Filter) and provides specific information about the rigid body tridimensional motion unavailable from the INS computations, thus allowing for a comprehensive improvement of the overall navigation system performance. A tightly-coupled inverted USBL (Ultra Short Baseline) is also adopted to enhance position and attitude estimation using range measurements to transponders in the vehicles mission area. The overall Navigation System accuracy improvement is assessed in simulation using a nonlinear model of the Infante UV.
Vehicle dynamics aiding technique for USB/INS underwater navigation system
Fahrzeugdynamik-Unterstützungstechnik für ein Trägheitsnavigationssystem mit ultrakurzer Basislinie
2007
6 Seiten, 7 Bilder, 2 Tabellen, 13 Quellen
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Aufsatz (Konferenz)
Datenträger
Englisch
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