IMM filter for GPS aided INS in the AUV application

Author

Ragel, Ben A. ; Farooq, M.

Author_Institution

Dept. of Electr. & Comput. Eng., R. Mil. Coll. of Canada, Kingston, Ont.

fYear

2005

fDate

7-10 Aug. 2005

Firstpage

575

Abstract

The inertial navigation system (INS) is usually employed to determine the position of an autonomous underwater vehicle (AUV). The accuracy of the position provided by the INS, which employs accelerometers and gyroscopes, deteriorates with time and as a result an external aiding sources such as the global positioning system (GPS) can be employed to reduce the error growth in the INS. The GPS aided INS system provides enhance positioning accuracy of the AUV compared to that of a stand-alone INS technique. This paper presents the interacting multiple model (IMM) estimator to process the GPS and the INS data for an AUV application

Keywords

Global Positioning System; Kalman filters; accelerometers; inertial navigation; position measurement; remotely operated vehicles; underwater vehicles; Global Positioning System; accelerometers; autonomous underwater vehicle; data processing; gyroscopes; inertial navigation system; interacting multiple model estimator; interacting multiple model filter; position accuracy; Application software; Educational institutions; Equations; Error correction; Feedback; Filters; Global Positioning System; Inertial navigation; Military computing; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Circuits and Systems, 2005. 48th Midwest Symposium on

Conference_Location

Covington, KY

Print_ISBN

0-7803-9197-7

Type

conf

DOI

10.1109/MWSCAS.2005.1594166

Filename

1594166