Abstract

This paper presents a hybrid underwater navigation system for unmanned underwater vehicles, using an additional range sonar, where the navigation system is based on inertial and Doppler velocity sensors. Conventional underwater navigation systems are generally based on an inertial measurement unit (IMU) and a Doppler velocity log (DVL), accompanying a magnetic compass and a depth sensor. Although the conventional navigation systems update the bias errors of inertial sensors and the scale effects of DVL, the estimated position slowly drifts as time passes. This paper proposes a measurement model that uses the range sonar to improve the performance of the IMU-DVL navigation system, for extended operation of underwater vehicles. The proposed navigation model includes the bias errors of IMU, the scale effects of VL, and the bias error of the range sonar. An extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation, when the external measurements are available. To illustrate the effectiveness of the hybrid navigation system, simulations were conducted with the 6-d.o.f. equations of motion of an AUV in lawn-mowing survey mode.

주제어

#관성계측센서   #도플러 속도센서   #거리계측 소나   #복합항법시스템   #무인잠수정  

저자의 다른 논문

참고문헌 (11)

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이 논문을 인용한 문헌 (3)

1. Jo, Chul-Hee ; Kim, Sung-Jun ; Cheong, Hyun 2009. "Dynamic Stability during Transportation of Bridge Caisson" 韓國海洋工學會誌 = Journal of ocean engineering and technology, 23(1): 104~108  원문보기 상세보기
2. Mok, Sung-Hoon ; Bang, Hyochoong ; Kwon, Jayhyun ; Yu, Myeongjong 2013. "Terrain Referenced Navigation for Autonomous Underwater Vehicles" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 19(8): 702~708  원문보기 상세보기
3. Yoo, Tae Suk ; Yoon, Seon Il 2013. "DVL-RPM based Velocity Filter Design for a Performance Improvement Underwater Integrated Navigation System" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 19(9): 774~781  원문보기 상세보기