An innovative GNSS/MEMS-basd INS system for precision navigation and hydrographic surveying

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The current state of technology in modern multibeam hydrographic surveying makes use of differential-based integrated GPS/INS systems for positioning and attitude of the marine vessel. Unfortunately, in addition to being relatively expensive and complex, such technology can only be used for coastal (i.e., within the state's territorial sea) operations. Beyond this distance limit, the errors at the reference and the rover receivers, become less correlated and do not cancel out sufficiently through double differencing. This leads to unsuccessful fixing for the ambiguity parameters, which in turn deteriorates the positioning and attitude accuracy. The major objective of the proposed research is to develop algorithms and estimation methodologies for an innovative autonomous GNSS/MEMS-based INS integrated system, which overcomes the limitations of current technology. The proposed system integrates global navigation satellite systems (GPS, GLONASS, and Galileo) and emerging MEMS-based inertial technology. The proposed system will be developed using tightly coupled mechanization, which is carried out in the raw measurements domain. Non-linear estimation techniques (e.g. Particle filtering) will be explored, which proved to be superior to traditional techniques such as extended Kalman filter. The proposed research presents a number of novel ideas, which collectively lead to the development of an innovative autonomous, tightly coupled, GNSS/MEMS-based INS integrated system. The proposed autonomous system will be capable of providing high accuracy positioning (decimetre to centimetre level) and attitude to meet the requirements of shallow- and deep-water multibeam hydrographic surveying. Being an autonomous system, it provides more flexibility, efficiency and consistent accuracy. In addition, the development of such system will cut the cost of positioning and orientation equipment dramatically. 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.