Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions
Currently Global Navigation Satellite Systems (GNSSs) are the primary source for the determination of absolute position, navigation, and time (PNT) for merchant vessel navigation. Nevertheless, the performance of GNSSs can strongly degrade due to space weather events, jamming, and spoofing. Especial...
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doaj-5570160aa9bd48d181537e64b827d5512020-11-24T23:54:57ZengMDPI AGSensors1424-82202018-09-01189295410.3390/s18092954s18092954Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming ConditionsRalf Ziebold0Daniel Medina1Michailas Romanovas2Christoph Lass3Stefan Gewies4German Aerospace Center (DLR), Institute of Communications and Navigation, Neustrelitz 17235, GermanyGerman Aerospace Center (DLR), Institute of Communications and Navigation, Neustrelitz 17235, GermanyBASELABS GmbH, Chemnitz 09126, GermanyGerman Aerospace Center (DLR), Institute of Communications and Navigation, Neustrelitz 17235, GermanyGerman Aerospace Center (DLR), Institute of Communications and Navigation, Neustrelitz 17235, GermanyCurrently Global Navigation Satellite Systems (GNSSs) are the primary source for the determination of absolute position, navigation, and time (PNT) for merchant vessel navigation. Nevertheless, the performance of GNSSs can strongly degrade due to space weather events, jamming, and spoofing. Especially the increasing availability and adoption of low cost jammers lead to the question of how a continuous provision of PNT data can be realized in the vicinity of these devices. In general, three possible solutions for that challenge can be seen: (i) a jamming-resistant GNSS receiver; (ii) the usage of a terrestrial backup system; or (iii) the integration of GNSS with other onboard navigation sensors such as a speed log, a gyrocompass, and inertial sensors (inertial measurement unit—IMU). The present paper focuses on the third option by augmenting a classical IMU/GNSS sensor fusion scheme with a Doppler velocity log. Although the benefits of integrated IMU/GNSS navigation system have been already demonstrated for marine applications, a performance evaluation of such a multi-sensor system under real jamming conditions on a vessel seems to be still missing. The paper evaluates both loosely and tightly coupled fusion strategies implemented using an unscented Kalman filter (UKF). The performance of the proposed scheme is evaluated using the civilian maritime jamming testbed in the Baltic Sea.http://www.mdpi.com/1424-8220/18/9/2954maritime navigationGNSSGNSS jammingintegrated navigation systemsKalman filteringDoppler velocity loginertial sensors |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ralf Ziebold Daniel Medina Michailas Romanovas Christoph Lass Stefan Gewies |
spellingShingle |
Ralf Ziebold Daniel Medina Michailas Romanovas Christoph Lass Stefan Gewies Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions Sensors maritime navigation GNSS GNSS jamming integrated navigation systems Kalman filtering Doppler velocity log inertial sensors |
author_facet |
Ralf Ziebold Daniel Medina Michailas Romanovas Christoph Lass Stefan Gewies |
author_sort |
Ralf Ziebold |
title |
Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions |
title_short |
Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions |
title_full |
Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions |
title_fullStr |
Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions |
title_full_unstemmed |
Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions |
title_sort |
performance characterization of gnss/imu/dvl integration under real maritime jamming conditions |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2018-09-01 |
description |
Currently Global Navigation Satellite Systems (GNSSs) are the primary source for the determination of absolute position, navigation, and time (PNT) for merchant vessel navigation. Nevertheless, the performance of GNSSs can strongly degrade due to space weather events, jamming, and spoofing. Especially the increasing availability and adoption of low cost jammers lead to the question of how a continuous provision of PNT data can be realized in the vicinity of these devices. In general, three possible solutions for that challenge can be seen: (i) a jamming-resistant GNSS receiver; (ii) the usage of a terrestrial backup system; or (iii) the integration of GNSS with other onboard navigation sensors such as a speed log, a gyrocompass, and inertial sensors (inertial measurement unit—IMU). The present paper focuses on the third option by augmenting a classical IMU/GNSS sensor fusion scheme with a Doppler velocity log. Although the benefits of integrated IMU/GNSS navigation system have been already demonstrated for marine applications, a performance evaluation of such a multi-sensor system under real jamming conditions on a vessel seems to be still missing. The paper evaluates both loosely and tightly coupled fusion strategies implemented using an unscented Kalman filter (UKF). The performance of the proposed scheme is evaluated using the civilian maritime jamming testbed in the Baltic Sea. |
topic |
maritime navigation GNSS GNSS jamming integrated navigation systems Kalman filtering Doppler velocity log inertial sensors |
url |
http://www.mdpi.com/1424-8220/18/9/2954 |
work_keys_str_mv |
AT ralfziebold performancecharacterizationofgnssimudvlintegrationunderrealmaritimejammingconditions AT danielmedina performancecharacterizationofgnssimudvlintegrationunderrealmaritimejammingconditions AT michailasromanovas performancecharacterizationofgnssimudvlintegrationunderrealmaritimejammingconditions AT christophlass performancecharacterizationofgnssimudvlintegrationunderrealmaritimejammingconditions AT stefangewies performancecharacterizationofgnssimudvlintegrationunderrealmaritimejammingconditions |
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