Results of Integrated Navigation in Shipping

Ralf Fiedler, Michael Gluch, Jens Kirchner, Alexandr Libertin

Abstract:	Accuracy of GPS receivers onboard ships can be affected by shadowing from obstructions, reflections, multipath, satellite changings, ship’s movements or ship’s maneuvering. The parameters of accuracy, availability, and reliability are examined under the conditions experienced aboard a ship. Measurements are made with carrier phase smoothed DGPS C/A code using L1 and RTCM or raw data corrections. Results are verified by carrier phase measurements. Various means of increasing accuracy, availability and reliability are examined using integrated solutions with: DGPS with an attitude and heading reference system; DGPS with DGLONASS; and, DGPS with ship dynamic identification. Inaccuracies of position solutions can be resolved with a low cost identification method. Parameters that can be integrated into a position solution include: terrestrial navigation systems; a second satellite navigation system or ship parameters (rudder angle, propeller speed, gyro heading), and environmental parameters (wind, stream). With these parameters, a prediction of position and ship dynamics can be identified. A GPS, GLONASS, or GNSS receiver can be used with differential corrections. A reliability check should be done using ranges to satellites or, better yet, by ranges to a terrestrial system. More accurate measurements of ship’s velocity (compared electromagnetic or Doppler log) can be accomplished using GPS, DGPS or an integrated solution. Up until now, results with attitude measurements have not been comparable to inertial systems. The determination of accurate attitude and heading measurements is a challenge for today’s systems. Attitude and heading can be determined satisfactorily only by some inertial systems. Multi-antenna systems are affected by to many failures or difficult to handle.
Published in:	Proceedings of the 10th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1997) September 16 - 19, 1997 Kansas City, MO
Pages:	963 - 971
Cite this article:	Fiedler, Ralf, Gluch, Michael, Kirchner, Jens, Libertin, Alexandr, "Results of Integrated Navigation in Shipping," Proceedings of the 10th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1997), Kansas City, MO, September 1997, pp. 963-971.
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