Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Fused Navigation of Unmanned Surface Vehicle and Detection of GPS Abnormality

무인 수상정의 융합 항법 및 GPS 이상 검출

  • Ko, Nak Yong (Dept. Electronic Eng., Chosun University) ;
  • Jeong, Seokki (Dept. Control and Inst. Eng., Graduate School, Chosun University)
  • 고낙용 (조선대학교 전자공학과) ;
  • 정석기 (조선대학교 대학원 제어계측공학과)
  • Received : 2016.04.26
  • Accepted : 2016.07.29
  • Published : 2016.09.01
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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

References

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