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http://dx.doi.org/10.12673/jant.2020.24.3.198

A EM-Log Aided Navigation Filter Design for Maritime Environment  

Jo, Minsu (Agency for Defence Development)
Publication Information
Journal of Advanced Navigation Technology / v.24, no.3, 2020 , pp. 198-204 More about this Journal
Abstract
This paper designs a electromagnetic-log (EM-Log) aided navigation filter for maritime environment without global navigation satellite system (GNSS). When navigation is performed for a long time, Inertial navigation system (INS)'s error gradually diverges. Therefore, an integrated navigation method is used to solve this problem. EM-Log sensor measures the velocity of the vehicle. However, since the measured velocity from EM-Log contains the speed of the sea current, the aided navigation filter is required to estimate the sea current. This paper proposes a single model filter and interacting multiple (IMM) model filter methods to estimate the sea current and analyzes the influence of the sea current model on the filter. The performance of the designed aided navigation filter is verified using a simulation and the improvement rate of the filter compared to the pure navigation is analyzed. The performance of single model filter is improved when the sea current model is correct. However, when the sea current model is incorrect, the performance decreases. On the other hands, IMM model filter methods show the stable performance compared to the single model.
Keywords
Navigation; Aided navigation; Kalman filter; EM-log (Electromagnetic-log); Sea current;
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