An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System

Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity updat...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Yiqing Yao [verfasserIn] Xiaosu Xu [verfasserIn] Xiang Xu [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2017

Schlagwörter:	INS/DVL integrated navigation system IMM dynamic ZUPT underwater navigation

Übergeordnetes Werk:	In: Sensors - MDPI AG, 2003, 17(2017), 9, p 2030
Übergeordnetes Werk:	volume:17 ; year:2017 ; number:9, p 2030

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/s17092030

Katalog-ID:	DOAJ030598524

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520			\|a Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified.
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allfields	10.3390/s17092030 doi (DE-627)DOAJ030598524 (DE-599)DOAJ64e78821cd234e179e20190631a2e8d4 DE-627 ger DE-627 rakwb eng TP1-1185 Yiqing Yao verfasserin aut An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified. INS/DVL integrated navigation system IMM dynamic ZUPT underwater navigation Chemical technology Xiaosu Xu verfasserin aut Xiang Xu verfasserin aut In Sensors MDPI AG, 2003 17(2017), 9, p 2030 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:17 year:2017 number:9, p 2030 https://doi.org/10.3390/s17092030 kostenfrei https://doaj.org/article/64e78821cd234e179e20190631a2e8d4 kostenfrei https://www.mdpi.com/1424-8220/17/9/2030 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 17 2017 9, p 2030
spelling	10.3390/s17092030 doi (DE-627)DOAJ030598524 (DE-599)DOAJ64e78821cd234e179e20190631a2e8d4 DE-627 ger DE-627 rakwb eng TP1-1185 Yiqing Yao verfasserin aut An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified. INS/DVL integrated navigation system IMM dynamic ZUPT underwater navigation Chemical technology Xiaosu Xu verfasserin aut Xiang Xu verfasserin aut In Sensors MDPI AG, 2003 17(2017), 9, p 2030 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:17 year:2017 number:9, p 2030 https://doi.org/10.3390/s17092030 kostenfrei https://doaj.org/article/64e78821cd234e179e20190631a2e8d4 kostenfrei https://www.mdpi.com/1424-8220/17/9/2030 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 17 2017 9, p 2030
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allfieldsGer	10.3390/s17092030 doi (DE-627)DOAJ030598524 (DE-599)DOAJ64e78821cd234e179e20190631a2e8d4 DE-627 ger DE-627 rakwb eng TP1-1185 Yiqing Yao verfasserin aut An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified. INS/DVL integrated navigation system IMM dynamic ZUPT underwater navigation Chemical technology Xiaosu Xu verfasserin aut Xiang Xu verfasserin aut In Sensors MDPI AG, 2003 17(2017), 9, p 2030 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:17 year:2017 number:9, p 2030 https://doi.org/10.3390/s17092030 kostenfrei https://doaj.org/article/64e78821cd234e179e20190631a2e8d4 kostenfrei https://www.mdpi.com/1424-8220/17/9/2030 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 17 2017 9, p 2030
allfieldsSound	10.3390/s17092030 doi (DE-627)DOAJ030598524 (DE-599)DOAJ64e78821cd234e179e20190631a2e8d4 DE-627 ger DE-627 rakwb eng TP1-1185 Yiqing Yao verfasserin aut An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified. INS/DVL integrated navigation system IMM dynamic ZUPT underwater navigation Chemical technology Xiaosu Xu verfasserin aut Xiang Xu verfasserin aut In Sensors MDPI AG, 2003 17(2017), 9, p 2030 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:17 year:2017 number:9, p 2030 https://doi.org/10.3390/s17092030 kostenfrei https://doaj.org/article/64e78821cd234e179e20190631a2e8d4 kostenfrei https://www.mdpi.com/1424-8220/17/9/2030 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 17 2017 9, p 2030
language	English
source	In Sensors 17(2017), 9, p 2030 volume:17 year:2017 number:9, p 2030
sourceStr	In Sensors 17(2017), 9, p 2030 volume:17 year:2017 number:9, p 2030
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	INS/DVL integrated navigation system IMM dynamic ZUPT underwater navigation Chemical technology
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container_title	Sensors
authorswithroles_txt_mv	Yiqing Yao @@aut@@ Xiaosu Xu @@aut@@ Xiang Xu @@aut@@
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callnumber-first	T - Technology
author	Yiqing Yao
spellingShingle	Yiqing Yao misc TP1-1185 misc INS/DVL integrated navigation system misc IMM misc dynamic ZUPT misc underwater navigation misc Chemical technology An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System
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topic_title	TP1-1185 An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System INS/DVL integrated navigation system IMM dynamic ZUPT underwater navigation
topic	misc TP1-1185 misc INS/DVL integrated navigation system misc IMM misc dynamic ZUPT misc underwater navigation misc Chemical technology
topic_unstemmed	misc TP1-1185 misc INS/DVL integrated navigation system misc IMM misc dynamic ZUPT misc underwater navigation misc Chemical technology
topic_browse	misc TP1-1185 misc INS/DVL integrated navigation system misc IMM misc dynamic ZUPT misc underwater navigation misc Chemical technology
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title	An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System
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title_full	An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System
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author_browse	Yiqing Yao Xiaosu Xu Xiang Xu
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doi_str_mv	10.3390/s17092030
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title_sort	imm-aided zupt methodology for an ins/dvl integrated navigation system
callnumber	TP1-1185
title_auth	An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System
abstract	Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified.
abstractGer	Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified.
abstract_unstemmed	Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified.
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container_issue	9, p 2030
title_short	An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System
url	https://doi.org/10.3390/s17092030 https://doaj.org/article/64e78821cd234e179e20190631a2e8d4 https://www.mdpi.com/1424-8220/17/9/2030 https://doaj.org/toc/1424-8220
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up_date	2024-07-03T15:56:32.592Z
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An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System

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