Abstract
Accurate and reliable navigation systems are necessary to deploy autonomous shipping. For this purpose, georeferenced vehicle-pose information is often generated using sensor data fusion consisting of GNSS data, inertial measurement, and other applicable aiding sensors. This technical overview summarizes current European projects and international work in the field of GNSS-based maritime navigation and introduces and discusses the sensors and methods involved. The review focuses on approaches with proprioceptive sensor technology. Therefore, as a limitation, environment sensing algorithms (e. g., SLAM) are explicitly not included. It is concluded that highly accurate and reliable sensor fusion should include complementary and redundant onboard sensors, which are tightly coupled.
Zusammenfassung
Für die zukünftige Realisierung autonomer Schifffahrt sind genaue und zuverlässige Navigationssysteme erforderlich. Zu diesem Zweck werden georeferenzierte Navigationsinformationen häufig durch Sensordatenfusion erzeugt, wobei GNSS-Informationen und Trägheitsmessungen und gegebenenfalls weitere Sensordaten fusioniert werden. Dieser technische Überblick fasst aktuelle europäische Projekte und internationale Arbeiten auf dem Gebiet der GNSS-basierten maritimen Navigation zusammen, stellt die beteiligten Sensoren und Methoden vor und diskutiert diese. Der Artikel konzentriert sich auf Ansätze mit propriozeptiver Sensorik. Daher werden Ansätze der Umgebungswahrnehumg (z. B. SLAM) ausdrücklich nicht berücksichtigt. Die Diskussion zeigt, dass eine hochpräzise und zuverlässige Sensorfusion komplementäre und redundante Onboard-Sensoren umfassen sollte, die eng miteinander gekoppelt sind.
About the authors
Shuchen Liu received his B. Sc. degree from Shanghai Jiao Tong University in 2014 and his M. Sc. degree from RWTH Aachen University in 2017, both in automation engineering. Since 2017, he has been a research associate and pursuing his Ph.D. degree at the Institute of Automatic Control, RWTH Aachen University. His research activities focus on robust state estimation and integrity monitoring of GNSS-based navigation systems for different applications, such as automobiles and vessels.
Jan-Jöran Gehrt received his M. Sc. degree in mechanical engineering in 2015 and the Dr.-Ing. degree in 2021 from RWTH Aachen University. His research interests cover Galileo-based localization using different estimation methods and their applications to railway vehicles and vessels.
Dirk Abel received the Dipl.-Ing degree in mechanical engineering in 1983 and the Dr.-Ing. degree in 1987 from RWTH Aachen University. There, in 2001, he became full professor and head of the Institute of Automatic Control. From 2009 to 2017, he was a member of the supervisory board of KUKA AG, Germany. Professor Abel’s main research area covers model predictive control, nonlinear and robust control, and rapid control prototyping in different application areas.
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