A novel GPS/DVL/MEMS-INS smartphone sensors integrated method to enhance autonomous navigation, guidance and control system of AUSVs based on ADSF Combined Filter

摘要

A reliable navigation, guidance and control system of Autonomous Unmanned Surface Vehicle (AUSV) is the major challenge for most researchers, especially when Global Positioning System (GPS) signal outages or its accuracy decreases in some places on the Earth's surface. Our paper introduces a novel navigation, guidance and control system of AUSV as follows; the proposed navigation system of AUSV is based on integrated Micro Electric Mechanical System -Inertial Navigation System (MEMS-INS) smartphone sensors with GPS and Doppler Velocity Log (DVL) to correct AUSV navigation system errors. The guidance and control system of AUSV is based on Ultrasonic sensors, Raspberry Pi microcontroller, and digital compass sensor. The ultrasonic sensor is used to detect and avoid obstacles on the path of AUSV. The Raspberry Pi microcontroller and digital compass are used to guide AUSV in the required path.