Design and Test Evaluation of a Marine Integrated Navigation System

D. F. Liang, J. C. McMillan, C. A. Maskell

Abstract:	The Marine Integrated Navigation System (MINS} described in this paper was developed at the Defence Research Estab 1 i shment Ottawa (DREO} to enhance the navigation accuracy, mission reliability and position reporting efficiency of the Canadian Maritime Forces. However, sufficient flexibility was designed into the system to make it attractive for a wide variety of nonmilitary applications as well, from the Coast Guard to the Merchant Marine. The MINS is a microprocessor controlled, optimally integrated, multi -sensor navigation system, based on a 14-state Kalman Filter and several special purpose routines. The Kalman Filter automatically weights and combines all sensor data to produce statistically optimal estimates of the ship's position and velocity. The special purpose routines were designed to perform various types of measurement error detection, to correct for certain sensor errors and to generate Omega and Loran-e signal propagation corrections. This paper briefly describes the development of MINS along with some of its special features and recent sea-trial results. These sea-trials have fully demonstrated the ability of the MINS to perform well under adverse measurement conditions and excellently under good conditions. When all sensors are functioning the MINS radial position error CEP is about 220 metres, and when Loran-e is not available this CEP is about 790 metres.
Published in:	Proceedings of the 1984 National Technical Meeting of The Institute of Navigation January 17 - 19, 1984 San Diego, CA
Pages:	73 - 82
Cite this article:	Liang, D. F., McMillan, J. C., Maskell, C. A., "Design and Test Evaluation of a Marine Integrated Navigation System," Proceedings of the 1984 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 1984, pp. 73-82.
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