Underwater Navigation System Solution using MEMS-Mobile Sensors during the GPS Outage

摘要

These position of Unmanned Surface Vehicle (USV) is very important in most navigation applications. The Global Position System (GPS) can be used for navigation system for most applications on the earth's surface, but its signal is not available underwater and indoor areas. Inertial Navigation System (INS) can be used for navigation system in such environments, but it has errors increase over time. This paper presents a method based on the integrated GPS with MEMS (Micro-Electro Mechanical System) INS mobile sensors to enhance the navigation system of USV and provide a continuous navigation solution during GPS outage. In this study, real-time data from GPS, MEMS-INS mobile sensors are fused and integrated by Kalman Filtering (KF); to estimate and correct errors of navigation system when GPS is available. When GPS becomes outage, the MEMS-INS system can provide acceptable navigation system within a not long of time until the GPS system is available. The performance of navigation system based on GPS/MEMS-INS cell phone is tested to a reference path when GPS is available and during its outage on parts of the path.