대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2015년도 제46회 하계학술대회
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- Pages.1383-1384
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- 2015
수중 자율이동시스템의 수력학 모델 내장형 항법필터 설계
Hydrodynamics Embedded Navigation Filter Design for Underwater Autonomous Systems
- Kim, Eun-Chong (School of Mechanical and Control Engineering, Handong Global University) ;
- Lee, Yun-Ha (School of Mechanical and Control Engineering, Handong Global University) ;
- Jung, Young-Kwang (School of Mechanical and Control Engineering, Handong Global University) ;
- Ra, Won-Sang (School of Mechanical and Control Engineering, Handong Global University)
- 발행 : 2015.07.15
초록
In this paper, a dynamics model embedded navigation filter is newly suggested for underwater autonomous systems without position or attitude aid. In order to ensure the observability on the INS errors, the hydrodynamics of the underwater vehicle is incorporated with the INS attitude error. This approach allows us to estimate and compensate the INS errors in spite of using external velocity sensor. Through the simulation, the performance and effectiveness of the proposed scheme are demonstrated.
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