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Fusion of multiple sensor measurements for navigation of an unmanned marine surface vehicle

Authors
Ko, N.Y.Jeong, S.Choi, H.T.Lee, C.-M.Moon, Y.S.
Issue Date
2016
Publisher
IEEE Computer Society
Keywords
acceleration; angular rate; Fused navigation; Global positioning system (GPS); linear velocity; magnetic field; outlier; range and bearing; Unmanned marine surface vehicle (UMSV)
Citation
International Conference on Control, Automation and Systems, v.0, pp 332 - 334
Pages
3
Journal Title
International Conference on Control, Automation and Systems
Volume
0
Start Page
332
End Page
334
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8554
DOI
10.1109/ICCAS.2016.7832337
ISSN
1598-7833
Abstract
This paper proposes a method for fused navigation of an unmanned marine surface vehicle (UMSV). The method also detects the outlier and interference of global positioning system (GPS) simultaneously. The method fuses available sensor measurements through extended Kalman filter (EKF) to find the location and attitude of the vehicle. The method uses error covariance of estimated location for detection of GPS outlier and interference. When outlier and interference of the GPS is detected, the method excludes GPS data from navigation process. The measurements to be fused for the navigation are position by GPS, acceleration, angular rate, magnetic field, linear velocity, and range and bearing to acoustic beacons. The method is tested through simulated data and measurement data produced through navigation of a vehicle. The results show that the method detects GPS outlier and interference as well as the GPS recovery, which frees the UMSV navigation from the problem of GPS abnormality. The method is applicable to the vehicle navigation where the UMSV is out of reach from the GPS jamming detection network such as GAARDIAN (GNSS Availability Accuracy Reliability and Integrity Assessment for Timing and Navigation) or jammer detection and location (JLOC) system. ? 2016 Institute of Control, Robotics and Systems - ICROS.
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