INS/GPS Tightly-Coupled Navigation Algorithm Using the Extended Kalman Filter for Crab-Cultivating Ship
[1]
Xueyan Sun, Department of Automation, Jiangsu University, Zhenjiang, China.
[2]
Tianhong Pan, Department of Automation, Jiangsu University, Zhenjiang, China.
[3]
Mian Khuram Ahsan, Department of Automation, Jiangsu University, Zhenjiang, China.
The moving area of the crab-farming ship is small. Using the GPS satellite navigation or the INS inertial navigation system separately cannot satisfy the requirement of the positioning accuracy. To overcome this issue, an INS/GPS tightly-coupled navigation is proposed in this paper, which takes the satellite’s pseudo-range and pseudo-range-rate as observed variables. To regulate its trajectory, the mathematical model of the tightly-coupled system is established according to the current attitude information of the aquaculture ship. The data is fused by using the extended Kalman filter algorithm, and the navigation accuracy is improved. Compared with the traditional INS/GPS loosely-coupled module, the proposed algorithm achieves a high positioning accuracy and meets the designed requirements.
Crab Farming, Navigation, GPS/INS Tightly-Coupled, Extended Kalman Filter
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