Integration of Inertial Navigation System with EMlog Using Hinfinity Filter
Abstract
This paper presents the integration of inertial navigation system (INS) with electromagneticlog (EMlog) as an underwater navigation system using Hinfinity filter for robustness from the uncertainty of the sea current model. In underwater environments, the electromagnetic signals are attenuated rapidly, so that the global navigation satellite system is not available in general. Thus, INS is usually chosen for underwater navigation, and other aiding sensors are also used to complement its accumulative errors, one of which is EMlog. Since an EMlog provides the relative velocity to seawater, the integrated navigation cannot be performed accurately unless the sea current speed is compensated properly. Generally, the INS and EMlog can be integrated using extended Kalman filter (EKF). However, EKF guarantees its performance when the stochastic properties of the system's process and measurement noises are perfectly known. In other words, in the presence of sea current modelling errors, the integration using the EKF is not expected to show good performance. On the other hand, Hinfinity filter is a robust filter which can tolerate such uncertainties. In this paper, the integration of INS and EMlog using Hinfinity filter is studied. The performance is compared with that of the EKF case by proper computer simulation.
 Publication:

E3S Web of Conferences
 Pub Date:
 November 2019
 DOI:
 10.1051/e3sconf/20199401013
 Bibcode:
 2019E3SWC..9401013C