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1 A Machine Learning Approach for Dead (1死的机器学习方法)
1
A Machine Learning Approach for
Dead-Reckoning Navigation at Sea Using a
Single Accelerometer
Roee Diamant , Yunye Jin
Electrical and Computer Engineering, The University of British Columbia
Institute for Infocomm Research, Singapore
Email: roeed@ece.ubc.ca, yjin@.sg
Abstract
Dead-reckoning (DR) navigation is used when GPS reception is not available or its accuracy is not
sufficient. At sea, DR requires the use of inertial sensors, usually a gyrocompass and an accelerometer, to
estimate the orientation and distance traveled by the tracked object with respect to a reference coordinate
system. In this paper, we consider the problem of DR navigation for vessels located close to or on the
sea surface, where motion is affected by ocean waves. In such cases, the vessel pitch angle is fast time-
varying and its estimation via direct measurements of orientation is prone to drifts and noises of the
gyroscope in use. Regarding this problem, we suggest a method to compensate on the vessel pitch angle
using a single acceleration sensor. Using a constraint expectation maximization (EM) algorithm, our
method classifies acceleration measurements into states of similar pitch angles. Then, for each class,
we project acceleration measurements into the reference coordinate system along the vessel heading
direction, and obtain distance estimations by integrating the projected measurements. Results in both
simulated and actual sea environments demonstrate that by using only acceleration measurements, our
method achieves accurate results.
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