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Polish Maritime Research

The Journal of Gdansk University of Technology

4 Issues per year

IMPACT FACTOR 2016: 0.776

CiteScore 2016: 0.98

SCImago Journal Rank (SJR) 2015: 0.317
Source Normalized Impact per Paper (SNIP) 2015: 1.050

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Volume 24, Issue s3


Low Cost Integrated Navigation System for Unmanned Vessel

Changsong Yang
  • Corresponding author
  • School of Information & Control, Nanjing University of Information Science & Technology, Nanjing, China
  • Other articles by this author:
  • De Gruyter OnlineGoogle Scholar
/ Qi Wang
  • School of Computer & Software, Nanjing University of Information Science & Technology, Nanjing, China
  • Other articles by this author:
  • De Gruyter OnlineGoogle Scholar
Published Online: 2017-11-22 | DOI: https://doi.org/10.1515/pomr-2017-0112


Large errors of low-cost MEMS inertial measurement unit (MIMU) lead to huge navigation errors, even wrong navigation information. An integrated navigation system for unmanned vessel is proposed. It consists of a low-cost MIMU and Doppler velocity sonar (DVS). This paper presents an integrated navigation method, to improve the performance of navigation system. The integrated navigation system is tested using simulation and semi-physical simulation experiments, whose results show that attitude, velocity and position accuracy has improved awfully, giving exactly accurate navigation results. By means of the combination of low-cost MIMU and DVS, the proposed system is able to overcome fast drift problems of the low cost IMU.

Keywords: Low cost; MEMS; Inertial navigation; Integrated navigation


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About the article

Published Online: 2017-11-22

Published in Print: 2017-11-27

Citation Information: Polish Maritime Research, Volume 24, Issue s3, Pages 110–115, ISSN (Online) 2083-7429, DOI: https://doi.org/10.1515/pomr-2017-0112.

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© 2017. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License. BY-NC-ND 4.0

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