Parallel Inertial-based Cooperative Navigation for Ship Formation
WANG Su
ZHOU Hongjin
LI Qian
XU Guipeng
LAN Guohui
Abstract：In order to solve the positioning error divergence problem of inertial navigation reference with the same accuracy carried by each ship in the ship formation in the environment of denial of GNSS information,a collaborative network navigation and positioning method based on each ship's inertial navigation reference is proposed.Firstly,the principle of ship formation cooperative network navigation and positioning technology is proposed.The kinematic model and observation equation of parallel inertial-based cooperative navigation are constructed.A data fusion algorithm based on EKF is designed to correct the positioning error.A parallel cooperative navigation test platform is built by means of inertial reference,GNSS equipment and test vehicle.The experimental re-sults show that compared with the single ship inertial reference navigation accuracy,the maximum single ship positioning error of the proposed cooperative navigation method is reduced by 18.14%,and the overall positioning error of the ship formation is reduced by 9.53%.
Keywords：ship formationcooperative navigationparallel modeinformation fusion
Publication Date：2025-01-19
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 48-51,57 )