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Application of Initial Bias Estimation Method for Inertial Navigation System (INS)/Doppler Velocity Log (DVL) and INS/DVL/Gyrocompass Using Micro-Electro-Mechanical System Sensors
| Content Provider | MDPI |
|---|---|
| Author | Fukuda, Gen Kubo, Nobuaki |
| Copyright Year | 2022 |
| Description | This article proposes a novel initial bias estimation method using a trajectory generator (TG). The accuracy of attitude and position estimation in navigation after using the inertial navigation system/Doppler velocity log (INS/DVL) and INS/DVL/gyrocompass (IDG) for 1 h were evaluated, and the results were compared to those obtained using the conventional Kalman filter (KF) estimation method. The probability of a horizontal position error < 1852 m (1 nautical mile) with a bias interval > 400 s was 100% and 9% for the TG and KF, respectively. In addition, the IDG average horizontal position errors over 1 h were 493 m and 507 m for the TG and KF, respectively. Moreover, the amount of variation was 2 m and 27 m for the TG and the KF, respectively. Thus, the proposed method is effective for initial bias estimation of INS/DVL and IDG using micro-electro-mechanical system sensors on a constantly moving vessel. |
| Starting Page | 5334 |
| e-ISSN | 14248220 |
| DOI | 10.3390/s22145334 |
| Journal | Sensors |
| Issue Number | 14 |
| Volume Number | 22 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2022-07-17 |
| Access Restriction | Open |
| Subject Keyword | Sensors Marine Engineering Initial Bias Trajectory Generator Ins/dvl Ins/dvl/gyrocompass Mems |
| Content Type | Text |
| Resource Type | Article |
