Adaptive Step Size Learning with Applications to Velocity Aided Inertial Navigation System

by   Barak Or, et al.

Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Recently, the usage of multi-rotor unmanned autonomous vehicles (UAV) for marine applications is receiving more attention in the literature. Usually, both platforms employ an inertial navigation system (INS), and aiding sensors for an accurate navigation solution. In AUV navigation, Doppler velocity log (DVL) is mainly used to aid the INS, while for UAVs, it is common to use global navigation satellite systems (GNSS) receivers. The fusion between the aiding sensor and the INS requires a definition of step size parameter in the estimation process. It is responsible for the solution frequency update and, eventually, its accuracy. The choice of the step size poses a tradeoff between computational load and navigation performance. Generally, the aiding sensors update frequency is considered much slower compared to the INS operating frequency (hundreds Hertz). Such high rate is unnecessary for most platforms, specifically for low dynamics AUVs. In this work, a supervised machine learning based adaptive tuning scheme to select the proper INS step size is proposed. To that end, a velocity error bound is defined, allowing the INS/DVL or the INS/GNSS to act in a sub-optimal working conditions, and yet minimize the computational load. Results from simulations and field experiment show the benefits of using the proposed approach. In addition, the proposed framework can be applied to any other fusion scenarios between any type of sensors or platforms.


page 1

page 9


ProNet: Adaptive Process Noise Estimation for INS/DVL Fusion

Inertial and Doppler velocity log sensors are commonly used to provide t...

Data-Driven Meets Navigation: Concepts, Models, and Experimental Validation

The purpose of navigation is to determine the position, velocity, and or...

Set-Transformer BeamsNet for AUV Velocity Forecasting in Complete DVL Outage Scenarios

Autonomous underwater vehicles (AUVs) are regularly used for deep ocean ...

Minimization of GNSS-Denied Inertial Navigation Errors for Fixed Wing Autonomous Unmanned Air Vehicles

This article proposes an inertial navigation algorithm intended to lower...

LiBeamsNet: AUV Velocity Vector Estimation in Situations of Limited DVL Beam Measurements

Autonomous underwater vehicles (AUVs) are employed for marine applicatio...

MissBeamNet: Learning Missing Doppler Velocity Log Beam Measurements

One of the primary means of sea exploration is autonomous underwater veh...

Toward Terrain-based Navigation Using Side-scan Sonar

This paper introduces a statistical model and corresponding sequential B...

Please sign up or login with your details

Forgot password? Click here to reset