An autonomous GNSS/MEMS-based INS integrated system for hydrographic applications

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The current state of technology in hydrographic surveying makes use of multibeam echo-sounding systems, which provide digital hydrographic data with near-full coverage of the seabed. Because of their wide-swath, however, multibeam echo-sounders require accurate positioning and orientation (roll, pitch and heading) to compensate for the vessel motion. My proposed research program focuses on the development of algorithms and estimation methodologies for an autonomous positioning and orientation system, which fulfils the requirements of multibeam echo-sounding surveys. The proposed system integrates global navigation satellite systems (GNSS - including the US Global Positioning System (GPS), the Russian GLONASS system, and the European Galileo system now under development) and emerging Micro-Electro-Mechanical system (MEMS)-based inertial technology. The proposed research will take advantage of the modernized GNSS systems and the improvements in MEMS-based inertial sensors, whenever they become available. In fact, the GPS modernization program has already started with the launch of the first modernized GPS Block IIR-M satellite on September 26, 2005 and the addition of six new monitoring stations to improve the GPS broadcast orbit. The first Galileo experimental satellite and a new group launch carrying two improved-performance GLONASS-M and one older GLONASS satellites are expected in December 2005. Unlike existing systems, which suffer from limitations in area of coverage, high-cost and logistical complexity, the proposed system provides more flexibility, efficiency and consistent accuracy worldwide. As well, the development of such a system will cut the cost of positioning and orientation equipment by more that 50% and will reduce the field personnel. Furthermore, such a system is expected to have significant economic and safety benefits to the marine community and strengthens Canada's position in becoming a world leader in this technology.