Aided Inertial Navigation in GPS-denied Environments Using Synthetic Aperture Processing

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Authors
  1. Dillon, J.
Corporate Authors
Defence Research and Development Canada, Atlantic Research Centre, Halifax NS (CAN)
Abstract
The focusing of a Synthetic Aperture Radar or Sonar (SAR/SAS) provides a precise measurement of the trajectory of the host platform over the length of the synthetic aperture. Although GPS is a widely used navigation sensor for unmanned systems, many operations either occur or could potentially occur in GPS-denied environments such as hostile airspace or covert underwater operations. In this report, the position measurement from an Inertial Navigation System (INS) is corrected using the integrated pulse-to-pulse displacement from synthetic aperture correlation processing. Results were obtained using data collected from a DRDC autonomous underwater vehicle operating in the Arctic during the 2014 Victoria Strait Expedition. The performance of the SAS was compared with conventional Doppler velocity aiding to evaluate the accuracy improvement of synthetic aperture aided navigation. While the motion estimate is ideal for focusing an image over the length of the synthetic aperture (on the order of 10 m for SAS), this precision does not necessarily translate into an improvement in long term navigation accuracy unless the sensors are carefully aligned and calibrated.
Keywords
Sonar;Navigation;underwater vehicles
Report Number
DRDC-RDDC-2016-C200 — Contract Report
Date of publication
01 Mar 2016
Number of Pages
25
DSTKIM No
CA052859
CANDIS No
804110
Format(s):
Electronic Document(PDF)

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