Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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A Study on a 3-D Localization of a AUV Based on a Mother Ship

무인모선기반 무인잠수정의 3차원 위치계측 기법에 관한 연구

  • 임종환 (제주대학교 메카트로닉스공학과) ;
  • 강철웅 (제주대학교 메카트로닉스공학과) ;
  • 김성근 ((주)이어도텍)
  • Published : 2005.04.01
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Abstract

A 3-D localization method of an autonomous underwater vehicle (AUV) has been developed, which can solve the limitations oj the conventional localization, such as LBL or SBL that reduces the flexibility and availability of the AUV. The system is composed of a mother ship (small unmanned marine prober) on the surface of the water and an unmanned underwater vehicle in the water. The mother ship is equipped with a digital compass and a GPS for position information, and an extended Kalman filter is used for position estimation. For the localization of the AUV, we used only non-inertial sensors, such as a digital compass, a pressure sensor, a clinometer, and ultrasonic sensors. From the orientation and velocity information, a priori position of the AUV is estimated by applying the dead reckoning method. Based on the extended Kalman filter algorithm, a posteriori position of the AUV is, then, updated by using the distance between the AUV and a mother ship on the surface of the water, together with the depth information from the pressure sensor.

Keywords

References

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