Tightly coupled long baseline/ultra-short baseline integrated navigation system

This paper proposes a novel integrated navigation filter based on a combined long baseline/ultra short baseline acoustic positioning system with application to underwater vehicles. With a tightly coupled structure, the position, linear velocity, attitude, and rate gyro bias are estimated, considering the full nonlinear system dynamics without resorting to any algebraic inversion or linearisation techniques. The resulting solution ensures convergence of the estimation error to zero for all initial conditions, exponentially fast. Finally, it is shown, under simulation environment, that the filter achieves very good performance in the presence of sensor noise.

[1]  Tor Arne Johansen,et al.  Attitude Estimation Using Biased Gyro and Vector Measurements With Time-Varying Reference Vectors , 2012, IEEE Transactions on Automatic Control.

[2]  Carlos Silvestre,et al.  A Sensor-based Long Baseline Position and Velocity Navigation Filter for Underwater Vehicles , 2010 .

[3]  M. B. Larsen,et al.  Synthetic long baseline navigation of underwater vehicles , 2000, OCEANS 2000 MTS/IEEE Conference and Exhibition. Conference Proceedings (Cat. No.00CH37158).

[4]  S. Bhat,et al.  A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon , 2000 .

[5]  Carlos Silvestre,et al.  Globally exponentially stable cascade observers for attitude estimation , 2012 .

[6]  Carlos Silvestre,et al.  Single range aided navigation and source localization: Observability and filter design , 2011, Syst. Control. Lett..

[7]  Carlos Silvestre,et al.  USBL/INS Tightly-Coupled Integration Technique for Underwater Vehicles , 2006, 2006 9th International Conference on Information Fusion.

[8]  H. G. Thomas,et al.  GIB buoys: an interface between space and depths of the oceans , 1998, Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No.98CH36290).

[9]  Philippe Martin,et al.  Design and implementation of a low-cost observer-based attitude and heading reference system , 2010 .

[10]  Robert E. Mahony,et al.  Nonlinear Complementary Filters on the Special Orthogonal Group , 2008, IEEE Transactions on Automatic Control.

[11]  Thor I. Fossen,et al.  A nonlinear observer for GPS and INS integration , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[12]  Carlos Silvestre,et al.  GES integrated LBL/USBL navigation system for underwater vehicles , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[13]  S. Shankar Sastry,et al.  The robustness of controllability and observability of linear time-varying systems , 1982 .

[14]  Yuanyuan Zhao,et al.  Autonomous Underwater Vehicle Navigation , 2010, IEEE Journal of Oceanic Engineering.

[15]  Rita Cunha,et al.  Landmark based nonlinear observer for rigid body attitude and position estimation , 2007, 2007 46th IEEE Conference on Decision and Control.

[16]  Robert M. Sanner,et al.  A coupled nonlinear spacecraft attitude controller and observer with an unknown constant gyro bias and gyro noise , 2003, IEEE Trans. Autom. Control..

[17]  Domenico Campolo,et al.  Inertial/Magnetic Sensors Based Orientation Tracking on the Group of Rigid Body Rotations with Application to Wearable Devices , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  M. Vidyasagar.  An Elementary Derivation of the Large Deviation Rate Function for Finite State Markov Chains , 2014 .

[19]  Carlos Silvestre,et al.  Optimal position and velocity navigation filters for autonomous vehicles , 2010, Autom..

[20]  Carlos Silvestre,et al.  Sensor-Based Globally Asymptotically Stable Filters for Attitude Estimation: Analysis, Design, and Performance Evaluation , 2012, IEEE Transactions on Automatic Control.

[21]  Jeff Smith,et al.  Autonomous Underwater Vehicle Navigation , 1995 .

[22]  John J. Leonard,et al.  Comparison of fix computation and filtering for autonomous acoustic navigation , 1998, Int. J. Syst. Sci..

[23]  L. Whitcomb,et al.  A SURVEY OF UNDERWATER VEHICLE NAVIGATION : RECENT ADVANCES AND NEW CHALLENGES , 2006 .

[24]  D. Yoerger,et al.  Combined Doppler/LBL Based Navigation of Underwater Vehicles , 1999 .

[25]  Florian Nadel,et al.  Stochastic Processes And Filtering Theory , 2016 .

[26]  Carlos Silvestre,et al.  Design and experimental evaluation of an integrated USBL/INS system for AUVs , 2010, 2010 IEEE International Conference on Robotics and Automation.

[27]  M. Moallem,et al.  Attitude estimation and stabilization of a rigid body using low-cost sensors , 2007, 2007 46th IEEE Conference on Decision and Control.

[28]  Carlos Silvestre,et al.  A GES attitude observer with single vector observations , 2012, Autom..

[29]  Angelo M. Sabatini,et al.  Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing , 2006, IEEE Transactions on Biomedical Engineering.

[30]  Paulo Oliveira,et al.  Study and implementation of an EKF GIB-based underwater positioning system , 2004 .

[31]  J. Opderbecke,et al.  Underwater vehicle trajectory estimation using contracting PDE-based observers , 2004, Proceedings of the 2004 American Control Conference.

[32]  Anuradha M. Annaswamy,et al.  Robust Adaptive Control , 1984, 1984 American Control Conference.

[33]  Carlos Silvestre,et al.  Sensor‐Based Long Baseline Navigation: Observability Analysis and Filter Design , 2014 .

[34]  Tarek Hamel,et al.  Attitude and gyro bias estimation for a VTOL UAV , 2006 .

[35]  Bijoy K. Ghosh,et al.  Pose estimation using line-based dynamic vision and inertial sensors , 2003, IEEE Trans. Autom. Control..

[36]  Louis L. Whitcomb,et al.  Preliminary Field Experience with the DVLNAV Integrated Navigation System for Manned and Unmanned , 2003 .

[37]  Taeyoung Lee,et al.  Global optimal attitude estimation using uncertainty ellipsoids , 2006, Syst. Control. Lett..

[38]  Carlos Silvestre,et al.  GES tightly coupled attitude estimation based on a LBL/USBL positioning system , 2013, 2013 European Control Conference (ECC).

[39]  Daniel Choukroun.  Novel Results on Quaternion Modelling and Estimation from Vector Observations , 2009 .

[40]  Carlos Silvestre,et al.  Position and velocity optimal sensor-based navigation filters for UAVs , 2009, 2009 American Control Conference.

[41]  Sébastien Paris,et al.  Trajectory estimation for ultrashort baseline acoustic positioning systems , 2001, 2001 IEEE Aerospace Conference Proceedings (Cat. No.01TH8542).

[42]  Carlos Silvestre,et al.  GAS tightly coupled LBL/USBL position and velocity filter for underwater vehicles , 2013, 2013 European Control Conference (ECC).

[43]  Carlos Silvestre,et al.  Position USBL/DVL sensor-based navigation filter in the presence of unknown ocean currents , 2010, 49th IEEE Conference on Decision and Control (CDC).