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http://dx.doi.org/10.5302/J.ICROS.2016.16.0106

Fused Navigation of Unmanned Surface Vehicle and Detection of GPS Abnormality  

Ko, Nak Yong (Dept. Electronic Eng., Chosun University)
Jeong, Seokki (Dept. Control and Inst. Eng., Graduate School, Chosun University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.9, 2016 , pp. 723-732 More about this Journal
Abstract
This paper proposes an approach to fused navigation of an unmanned surface vehicle(USV) and to detection of the outlier or interference of global positioning system(GPS). The method fuses available sensor measurements through extended Kalman filter(EKF) to find the location and attitude of the USV. The method uses error covariance of EKF for detection of GPS outlier or interference. When outlier or interference of the GPS is detected, the method excludes GPS data from navigation process. The measurements to be fused for the navigation are GPS, acceleration, angular rate, magnetic field, linear velocity, range and bearing to acoustic beacons. The method is tested through simulated data and measurement data produced through ground navigation. The results show that the method detects GPS outlier or interference as well as the GPS recovery, which frees navigation from the problem of GPS abnormality.
Keywords
unmanned surface vehicle; GPS interference; GPS outlier; GPS jamming; GPS recovery; Kalman filter; fused navigation; integrated navigation;
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Times Cited By KSCI : 3  (Citation Analysis)
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