1 A Machine Learning Approach for Dead (1死的机器学习方法).pdf

1 A Machine Learning Approach for Dead (1死的机器学习方法).pdf

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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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