GAS Ocean Current Estimation with Limited Velocity Readings

Batista, Pedro; Silvestre, Carlos; Oliveira, Paulo

doi:10.3182/20120410-3-pt-4028.00056

Cited by 1 publication

(1 citation statement)

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“…The ocean current velocity will significantly impact the navigation accuracy of the SINS/DVL integrated navigation system [11,16]. For navigation systems, ocean current velocity is usually required to be included in the kinematic models [17], as Yao noted in the concluding section of [18], "It should be noted that when DVL works on its water track mode, the inference of the water current should be considered and compensated before employing the proposed algorithm," which implies ocean current velocity is vital in many underwater applications.…”

Section: Introductionmentioning

confidence: 99%

Virtual Metrology Filter-Based Algorithms for Estimating Constant Ocean Current Velocity

Huang,

Liu,

Shao

et al. 2023

Remote Sensing

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The strap-down inertial navigation system (SINS) and Doppler velocity log (DVL) integrated navigation system are widely used for autonomous underwater vehicles (AUVs). Whereas DVL works in the water tracking mode, the velocity provided by DVL is relative to the current layer and cannot be directly used to suppress the divergence of SINS errors. Therefore, the estimation and compensation of the ocean current velocity play an essential role in improving navigation positioning accuracy. In recent works, ocean currents are considered constant over a short term in small areas. In the common KF algorithm with the ocean current as a state vector, the current velocity cannot be estimated because the current velocity and the SINS velocity error are coupled. In this paper, two virtual metrology filter (VMF) methods are proposed for estimating the velocity of ocean currents based on the properties that the currents remain unchanged at the adjacent moments. New measurement equations are constructed to decouple the current velocity and the SINS velocity error, respectively. Simulations and lake tests show that both proposed methods are effective in estimating the current velocity, and each has its advantages in estimating the ocean current velocity or the misalignment angle.

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