한국해양공학회지 (Journal of Ocean Engineering and Technology)

  • 제19권5호
  • /
  • Pages.71-77
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  • 2005
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  • 1225-0767(pISSN)
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  • 2287-6715(eISSN)
한국해양공학회 (Korean Society of Ocean Engineers)
권호 표지

두 개의 초음파 거리계를 이용한 관성센서 기반의 의사 장기선 (Pseudo-LBL) 복합항법 알고리듬

Pseudo Long Base Line (LBL) Hybrid Navigation Algorithm Based on Inertial Measurement Unit with Two Range Transducers

  • 이판묵 (한국해양연구원 해양시스템안전연구소 해양시스템기술연구본부) ;
  • 전봉환 (한국해양연구원 해양시스템안전연구소 해양시스템기술연구본부) ;
  • 홍석원 (한국해양연구원 해양시스템안전연구소 해양시스템기술연구본부) ;
  • 임용곤 (한국해양연구원 해양시스템안전연구소 해양시스템기술연구본부) ;
  • 양승일 (한국해양연구원 해양시스템안전연구소 해양시스템기술연구본부)
  • LEE PAN-MOOK (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) ;
  • JUN BONG-HUAN (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) ;
  • HONG SEOK-WON (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) ;
  • LIM YONG-KON (Maritime and Ocean Engineering Research Institute (MOERI), KORDI) ;
  • YANG SEUNG-IL (Maritime and Ocean Engineering Research Institute (MOERI), KORDI)
  • 발행 : 2005.10.01
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초록

This paper presents an integrated underwater navigational algorithm for unmanned underwater vehicles, using additional two-range transducers. This paper proposes a measurement model, using two range measurements, to improve the performance of an IMU-DVL (inertial measurement unit - Doppler velocity log) navigation system for long-time operation of underwater vehicles, excluding DVL measurement. 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. Simulation was conducted with the 6-d.o.f nonlinear numerical model of an AUV in lawn-mowing survey mode, at current flaw, where the velocity information is unavailable. Simulations illustrate the effectiveness of the integrated navigation system, assisted by the additional range measurements without DVL sensing.

키워드

참고문헌

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