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

水文测量技术的现状是利用多波束回声测深系统，这种系统提供几乎覆盖整个海底的数字水文数据。然而，由于多波束回声测深仪的探测范围很宽，因此需要精确的定位和方向（横摇、俯仰和航向）来补偿船只的运动。我提出的研究计划侧重于开发一种满足多波束回声探测要求的自主定位和定向系统的算法和估计方法。拟议的系统集成了全球导航卫星系统（GNSS——包括美国全球定位系统（GPS）、俄罗斯GLONASS系统和欧洲伽利略系统，目前正在开发中）和新兴的基于惯性技术的微机电系统（MEMS）。拟议的研究将利用现代化的GNSS系统和基于mems的惯性传感器的改进，无论何时它们可用。事实上，GPS现代化计划已经开始，2005年9月26日发射了第一颗现代化的GPS Block IIR-M卫星，并增加了6个新的监测站来改善GPS广播轨道。预计在2005年12月，第一颗伽利略实验卫星和一颗携带两颗性能改进的GLONASS- m卫星和一颗较旧的GLONASS卫星的新组发射。与现有系统不同，现有系统受覆盖范围限制、成本高和后勤复杂性的影响，拟议的系统在全球范围内提供了更大的灵活性、效率和一致的准确性。此外，这种系统的开发将使定位和定向设备的成本降低50%以上，并将减少现场人员。此外，这种系统预计将对海洋社区产生重大的经济和安全效益，并加强加拿大在该技术方面的世界领先地位。

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.