Navigation System of UUV Using Multi-Sensor Fusion-Based EKF

융합된 다중 센서와 EKF 기반의 무인잠수정의 항법시스템 설계

  • Park, Young-Sik (Department of Electronic and Electric and Computer Engineering, Pusan National University) ;
  • Choi, Won-Seok (Department of Electronic and Electric and Computer Engineering, Pusan National University) ;
  • Han, Seong-Ik (Department of Electronic and Electric and Computer Engineering, Pusan National University) ;
  • Lee, Jang-Myung (Department of Electronic and Electric and Computer Engineering, Pusan National University)
  • 박영식 (부산대학교 전자전기컴퓨터공학과) ;
  • 최원석 (부산대학교 전자전기컴퓨터공학과) ;
  • 한성익 (부산대학교 전자전기컴퓨터공학과) ;
  • 이장명 (부산대학교 전자전기컴퓨터공학과)
  • Received : 2015.12.16
  • Accepted : 2016.06.02
  • Published : 2016.07.01


This paper proposes a navigation system with a robust localization method for an underwater unmanned vehicle. For robust localization with IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and depth sensors, the EKF (Extended Kalman Filter) has been utilized to fuse multiple nonlinear data. Note that the GPS (Global Positioning System), which can obtain the absolute coordinates of the vehicle, cannot be used in the water. Additionally, the DVL has been used for measuring the relative velocity of the underwater vehicle. The DVL sensor measures the velocity of an object by using Doppler effects, which cause sound frequency changes from the relative velocity between a sound source and an observer. When the vehicle is moving, the motion trajectory to a target position can be recorded by the sensors attached to the vehicle. The performance of the proposed navigation system has been verified through real experiments in which an underwater unmanned vehicle reached a target position by using an IMU as a primary sensor and a DVL as the secondary sensor.


Supported by : 한국산업기술진흥원


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