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

现代多波束水文测量技术的现状是利用基于差分的GPS/INS综合系统来定位和测量海洋船舶的姿态。不幸的是，除了相对昂贵和复杂之外，这种技术只能用于沿海（即，在国家的领海内）。超过这个距离限制，在参考和流动站接收器的误差，变得不太相关，并没有通过双差分充分抵消。这导致不成功的固定的模糊度参数，这反过来又恶化了定位和姿态精度。 提出的研究的主要目标是开发算法和估计方法的创新自主GNSS/MEMS为基础的INS集成系统，克服了现有技术的局限性。该系统集成了全球导航卫星系统（GPS，GLONASS和Galileo）和新兴的基于MEMS的惯性技术。所提出的系统将使用紧密耦合的机械化，这是在原始测量域进行开发。非线性估计技术（如粒子滤波）将被探讨，这被证明是上级的传统技术，如扩展卡尔曼滤波。 提出的研究提出了一些新的想法，共同导致一个创新的自主，紧耦合，基于GNSS/MEMS的INS集成系统的发展。拟议的自主系统将能够提供高精度定位（分米至厘米级）和姿态，以满足浅水和深水多波束水文测量的要求。作为一个自主系统，它提供了更大的灵活性，效率和一致的准确性。此外，这种系统的发展将大大降低定位和定向设备的成本。此外，预计这一系统将给海洋界带来重大的经济和安全利益，并加强加拿大在这一技术方面的世界领先地位。

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.