2019 Volume 10 Issue 1 Pages 1-12
We developed a robust and precise positioning method for the ship berthing support system. This method is realized by fusion of moving image data captured by a camera equipped with own ship, GNSS L1 civil signals received from multiple antennas, and 6-axis IMU measurements. The new odometry technique estimates highly precise trajectory of the own ship using tightly coupled a time-space variation of the GNSS carrier phase with the 6-axis IMU data, in addition to 3-dimensional port structure recovered by visual odometry of the moving image. Furthermore, common receiver clock of multiple GNSS receivers reduced unknown elements of the state vector and eventually enabled to maintain the 10 cm of trajectory preciseness even in few visible satellites case.
