Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Design of GPS-aided Dead Reckoning Algorithm of AUV using Extended Kalman Filter

확장칼만필터를 이용한 무인잠수정의 GPS 보조 추측항법 알고리즘 설계

  • Kang, Hyeon-Seok (Department of Convergence Study on the Ocean Science and Technology, Ocean Science and Technology School, KMOU-KIOST) ;
  • Hong, Sung-Min (Department of Convergence Study on the Ocean Science and Technology, Ocean Science and Technology School, KMOU-KIOST) ;
  • Sur, Joo-No (Research Institute of Industrial Technology, KMOU) ;
  • Kim, Joon-Young (Department of Mechanical Engineering, KMOU)
  • 강현석 (한국해양대학교-한국해양과학기술원 해양과학기술전문대학원 해양과학기술융합학과) ;
  • 홍승민 (한국해양대학교-한국해양과학기술원 해양과학기술전문대학원 해양과학기술융합학과) ;
  • 서주노 (한국해양대학교 산업기술연구소) ;
  • 김준영 (한국해양대학교 기계공학부)
  • Received : 2016.11.08
  • Accepted : 2017.01.10
  • Published : 2017.02.28
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Abstract

This paper introduces a GPS-aided dead reckoning algorithm that asymptotically estimates the heading bias error of a magnetic compass based on geodetic north, improves the position error accumulated by dead reckoning, and helps the estimated position of an AUV to represent a position in the NED coordinate system, by receiving GPS position information when surfaced. Based on the results of a simulation, the locational error was bounded with a modest distance, after estimating the AUV position and heading bias error of the magnetic compass when surfaced. In other words, it was verified that proposed algorithm improves the position error in the NED coordinate system.

Keywords

References

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