Integrated GPS, INS, and eLoran for maritime tasks using ASF correction by Kalman filter

Abstract

This study proposes an integrated GPS, INS, and eLoran algorithm for fulfilling maritime tasks. The architecture of the fusion filter consists of two Kalman filters. One is used to update the navigation solutions of INS with GPS or eLoran, and the other is used to estimate the ASF (additional secondary factor), which is the most important error of eLoran. Although this ASF correction can be replaced by ASF correction services after establishing the eLoran infrastructure, this approach will be useful to estimate the ASF in the fusion filter because of the coverage of ASF correction services. A land test with a vehicle is conducted on the Saemangeum Seawall in Korea to evaluate the proposed fusion filter. The experimental results show that ASF correction can be successfully achieved by the proposed algorithm and that eLoran can back up the GPS in case of a GPS outage. The proposed algorithm should be able to fulfill maritime tasks such as autonomous operations, hydrography, dredging, etc. ？ ICROS 2018.