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J. Ocean Eng. Technol. 2004;18(4):33-39.    

A Hybrid Navigation System for Underwater Unmanned Vehicles, Using a Range Sonar
LEE PAN-MOOK;JEON BONG-HWAN;KIM SEA-MOON;LEE CHONG-MOO;LIM YONG-KON;YANG SEUNG-IL;
Korea Research Institute of Ships and Ocean Engineering, KORDI;Korea Research Institute of Ships and Ocean Engineering, KORDI;Korea Research Institute of Ships and Ocean Engineering, KORDI;Korea Research Institute of Ships and Ocean Engineering, KORDI;Kor
초음파 거리계를 이용한 무인잠수정의 수중 복합 항법시스템
이판묵;전봉환;김시문;이종무;임용곤;양승일;
한국해양연구원 해양시스템안전연구소;한국해양연구원 해양시스템안전연구소;한국해양연구원 해양시스템안전연구소;한국해양연구원 해양시스템안전연구소;한국해양연구원 해양시스템안전연구소;한국해양연구원 해양시스템안전연구소;
© 2004 The Korean Society of Ocean Engineers     Open access / Under a Creative Commons License
Keywords: Inertial Measurement Unit, Doppler Velocity Log, Range Sonar, Hybrid Navigation System, Unmanned Underwater Vehicle
핵심용어: 관성계측센서, 도플러 속도센서, 거리계측 소나, 복합항법시스템, 무인잠수정
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.


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