Precise Navigation of USV Based on PPP-RTK/MEMS in the Offshore Environment

IF 2 4区地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS

Marine Geodesy Pub Date : 2023-06-19 DOI:10.1080/01490419.2023.2223764

Minzhi Xiang, Hongzhou Chai, Xiao Yin, Zhenqiang Du, Kaidi Jin

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引用次数: 0

Abstract

Abstract High-precision position, velocity and attitude information is the premise for the unmanned surface vehicle (USV) to perform various tasks. The traditional navigation technology of USV is to combine RTK (real-time kinematics) with MEMS (micro-electromechanical system). In order to avoid bi-directional communication of RTK/MEMS, a loosely coupled PPP (precise point positioning)-RTK/MEMS navigation method is proposed in this contribution, where the un-combined PPP-RTK positioning model and advanced time-differenced carrier-phase (TDCP) velocity determination model is adopted. When the reference stations are far away from the user, i.e., more than 55 km, the centimetre-level positioning results can be achieved and especially 99% horizontal error is less than 10 cm. Compared with the TDCP-only centimetre-per-second-level velocity accuracy, the proposed method can increase to accuracy of the order of millimetres per second. In terms of attitude determination accuracy, the roll and pitch are better than 0.1° and yaw is better than 0.5°, showing a similar performance to the nominal accuracy. Therefore, the proposed PPP-RTK/MEMS integration method can be a promising USV navigation solution in the offshore area.

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基于PPP-RTK/MEMS的海上无人潜航器精确导航

高精度的位置、速度和姿态信息是无人水面飞行器(USV)执行各种任务的前提。传统的无人潜航器导航技术是实时运动学与微机电系统相结合的技术。为了避免RTK/MEMS的双向通信，本文提出了一种松散耦合的PPP(精确点定位)-RTK/MEMS导航方法，该方法采用未结合的PPP-RTK定位模型和先进的时差载波相位(TDCP)速度确定模型。当参考站距离用户较远，即大于55km时，可以实现厘米级的定位结果，特别是99%的水平误差小于10cm。与仅tdcp的厘米/秒级速度精度相比，该方法可将精度提高到毫米/秒数量级。在姿态确定精度方面，横摇和俯仰优于0.1°，偏航优于0.5°，表现出与标称精度相似的性能。因此，提出的PPP-RTK/MEMS集成方法可以成为海上USV导航的一种很有前途的解决方案。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Marine Geodesy 地学-地球化学与地球物理

CiteScore

4.10

自引率

6.20%

发文量

审稿时长

>12 weeks

期刊介绍： The aim of Marine Geodesy is to stimulate progress in ocean surveys, mapping, and remote sensing by promoting problem-oriented research in the marine and coastal environment. The journal will consider articles on the following topics: topography and mapping; satellite altimetry; bathymetry; positioning; precise navigation; boundary demarcation and determination; tsunamis; plate/tectonics; geoid determination; hydrographic and oceanographic observations; acoustics and space instrumentation; ground truth; system calibration and validation; geographic information systems.