文章基本信息

标题：A Virtual Vertical Reference Concept for GNSS/INS Applications at the Sea Surface
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作者：Torleiv H. Bryne ; Thor I. Fossen ; Tor A. Johansen 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：16
页码：127-133
DOI：10.1016/j.ifacol.2015.10.269
语种：English
出版社：Elsevier
摘要：AbstractInertial navigation systems (INS) can be used to obtain estimates of the position, velocity and attitude, in a dead-reckoning fashion, for marine vessels. To combat drift, aiding reference systems such as global navigation satellite systems are utilized. However, satellite based positioning systems typically provide less accurate measurements of the vertical position. This paper presents an alternative vertical aiding by introducing a virtual vertical reference concept with respect to uncoupled and loosely coupled GNSS/INS integration, which improves the accuracy of nonlinear observers significantly when applied to strapdown inertial navigation. The estimation performance obtained with the virtual vertical reference concept is compared with the performance obtained with standalone GNSS, and differential corrected GNSS through simulations.
关键词：KeywordsInertial navigationNavigation systemsPosition estimationNonlinear observersMarine systems