Paper Info
Title
A Real-Time Mismatch Detection Method for Underwater Database-Referenced Navigation.
Abstract
Database-referenced navigation (DBRN) using geophysical information is often implemented on autonomous underwater vehicles (AUVs) to correct the positional errors of the inertial navigation system (INS). The matching algorithm is a pivotal technique in DBRN. However, it is impossible to completely eliminate mismatches in practical application. Therefore, it is necessary to perform a mismatch detection method on the outputs of DBRN. In this paper, we propose a real-time triple constraint mismatch detection method. The proposed detection method is divided into three modules: the model fitting detection module, the spatial structure detection module, and the distance ratio detection module. In the model fitting detection module, the navigation characteristics of AUVs are used to select the fitting model. In the spatial structure detection module, the proposed method performs the mismatch detection based on the affine transformation relationship between the INS-indicated trajectory and the corresponding matched trajectory. In the distance ratio detection module, we derive the distance ratio constraint between the INS-indicated trajectory and the corresponding matched trajectory. Simulations based on an actual geomagnetic anomaly base map have been performed for the validation of the proposed method.
Year
DOI
Venue
2019
10.3390/s19020307
SENSORS
Keywords
Field
DocType
database-referenced navigation,mismatch detection,underwater navigation,inertial navigation system,autonomous underwater vehicles
Affine transformation,Inertial navigation system,Computer vision,dBrn,Underwater navigation,Electronic engineering,Artificial intelligence,Engineering,Spatial structure,Blossom algorithm,Trajectory,Underwater
Journal
Volume
Issue
ISSN
19
2.0
1424-8220
Citations 
PageRank 
References 
0
0.34
16
Authors
3
Name
Order
Citations
PageRank
Tian Dai101.01
Lingjuan Miao225.51
Yanbing Guo300.68