Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
권호 표지

A Hybrid Navigation System for Underwater Unmanned Vehicles, Using a Range Sonar

초음파 거리계를 이용한 무인잠수정의 수중 복합 항법시스템

  • LEE PAN-MOOK (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
  • JEON BONG-HWAN (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
  • KIM SEA-MOON (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
  • LEE CHONG-MOO (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
  • LIM YONG-KON (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
  • YANG SEUNG-IL (Korea Research Institute of Ships and Ocean Engineering, KORDI)
  • 이판묵 (한국해양연구원 해양시스템안전연구소) ;
  • 전봉환 (한국해양연구원 해양시스템안전연구소) ;
  • 김시문 (한국해양연구원 해양시스템안전연구소) ;
  • 이종무 (한국해양연구원 해양시스템안전연구소) ;
  • 임용곤 (한국해양연구원 해양시스템안전연구소) ;
  • 양승일 (한국해양연구원 해양시스템안전연구소)
  • Published : 2004.08.01
Download PDF
⟨ Previous Next ⟩

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.

Keywords

References

  1. 이종무, 이판묵, 김시문, 홍석원, 서재원, 성우제 (2003). '반자 율무인잠수정의 수중 복합항법 시스템의 성능평가를 위한 회전팔 시험', 한국해양공학회지, 제17권, 제4호, pp 73-80
  2. 이종무, 이판묵, 성우제 (2003). '간접 되먹임 필터를 이용한 관성센서 및 초음파 속도센서 기반의 수중 복합항법 알고리듬', 한국해양공학회지, 제17권, 제6호, pp 83-90
  3. Gelb, A. (1974). Applied optimal estimation, MIT, Cambridge, MA
  4. Hong, S., Lee, P., Lim Y, Lee, C, Jean, B., Park, J., Choi, Y, Kim, S. and Seo, J. (2002). 'Design and implementation of a dual use purpose semi-autonomous underwater vehicle', Underwater Defense Technology 2002, Oct. 8-10, Jeju, Korea, pp 101-111
  5. Kinsey, J.C. and Whitcomb, L.L. (2003). 'Preliminary field experience with the DVLNAV integrated navigation system for manned and unmanned submersibles', 1st IFAC Workshop on Guidance and Control of Underwater Vehicle, April 9-11, pp 51-60
  6. Larsen, M.B. (2000). 'High performance Doppler inertial navigation experimental results', Oceans 2000 Conf., Vol 2, pp 1449-1456
  7. Lee, P., Kim, S., Jean, B., Choi, H. and Lee C. (2004). 'Improvement on an inertial-Doppler navigation system of unmanned underwater vehicles using a complementary range sonar', Underwater Technology 2004 Symposium, Taipei, Taiwan, April 21-24, pp 10-19
  8. Marco, D.B. and Healey, AJ. (2001). 'Command, control, and navigation experimental results with the NPS ARIES AUV', IEEE J. of Oceanic Eng., Vol 26, No 4, pp 466-476 https://doi.org/10.1109/48.972079
  9. Titterton, D.H. and Weston, J.L. (1997). Strapdown inertial navigation technology, Peter Peregrinus Ltd., London
  10. Whitcomb, L., Yoerger, D. and Singh, H. (1999). 'Advances in Doppler-based navigation of underwater robotic vehicles', Int. Conf. on Robotics & Auto. 1999, pp. 399-406
  11. Yun, X., Bachmann, E., McGhee, R., Whalen, R., Roberts, R.Knapp, R, Healey, A. and Zyda, M. (1999). 'testing and evaluation of an integrated GPS/INS system for small AUV navigadon', IEEE J. of Oceanic Eng., Vol 24, No 3,pp 396-404 https://doi.org/10.1109/48.775301