Integrated Navigation System for Unmanned Surface Vehicles via GPS/INS with Particle Filter

EasyChair Preprint 8345

Abstract

This paper is about the implementation of integrated GPS/INS navigation for unmanned surface vessels (USVs) and the improvement of the accuracy of inertial navigation system (INS) navigation alone using the power model of a dual-thruster USV. Using the power model of the dual-thruster USV as an event-triggered switch for effective acceleration integration allows the INS of the USV to maintain high positioning accuracy for longer periods of time when the Global Positioning System (GPS) signal is disconnected or vulnerable. When GPS signals are available, the particle filter algorithm is used as the data fusion algorithm for the GPS/INS integrated navigation system, thus improving the positioning accuracy. This approach solves the problem that the INS navigation system composed of economical inertial navigation units (IMUs) has low positioning accuracy and only a short validity time.

Keyphrases: GPS/INS, Integrated, Navigation system power model, particle filter, unmanned surface vehicle

@booklet{EasyChair:8345,
  author    = {Xin Yan and Xiaofei Yang and Wei Liu and Hongwei She and Xiangbing Hu and Weibo Zhong},
  title     = {Integrated Navigation System for Unmanned  Surface Vehicles via GPS/INS with Particle Filter},
  howpublished = {EasyChair Preprint 8345},
  year      = {EasyChair, 2022}}