1. Development of a multi-sensor system to optimize the positioning of hydrographic surveying vessels
- Author
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Breitenfeld, Marc, Scheider, Annette, Schwieger, Volker, and Wirth, Harry
- Subjects
МУЛЬТИСЕНСОРНАЯ СИСТЕМЫ, ФИЛЬТР КАЛМАНА, КИНЕМАТИЧЕСКОЕ ПОЗИЦИОНИРОВАНИЕ, НАВИГАЦИИ - Abstract
Precise positioning is important not only for land based vehicles but also for vessels. In the field of hydrography the positions of surveying vessels must be known with a high accuracy. Currently, GNSS receivers are predominantly used to determine the three dimensional position of surveying vessels on German inland waterways. Availability and accuracy of GNSS positions are influenced by shadowing, refraction, and multipath effects. Thus, the GNSS signal loss or disturbance results in measurement gaps. These gaps occur especially in regions with riparian vegetation, in valleys with steep slopes, intra-urban, and under bridges. The project “HydrOs” focuses on the improvement of the positioning solution: The position shall be determined reliably and uninterrupted and at the end of a GNSS gap still with an accuracy of a few decimetres. Moreover, the positioning system shall provide reliable integrity information. Therefore, all available sensors on board of the vessel which might contribute and more sensors shall be integrated in a multi-sensor system. In the project methods describing the vessels motion in space shall be developed. The dynamic motion model that integrates several sensors is put into effect with an extended Kalman filter (EKF). All available observations with a specified accuracy level are integrated into the filter. The ship motion is described by the state vector which comprises the three dimensional coordinates of a defined reference point, the attitude of the vessel, the velocity, and angular velocity. The filtering process itself will be supported by a flexible algorithm which recognizes automatically gaps of the incoming data.
- Published
- 2014