Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Terrain Referenced Navigation for Autonomous Underwater Vehicles

자율무인잠수정의 지형참조항법 연구

  • Mok, Sung-Hoon (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Bang, Hyochoong (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Kwon, Jayhyun (Department of Geo-Informatics, University of Seoul) ;
  • Yu, Myeongjong (Inertial Navigation Laboratory, Agency of Defense Development)
  • 목성훈 (한국과학기술원 항공우주공학과) ;
  • 방효충 (한국과학기술원 항공우주공학과) ;
  • 권재현 (서울시립대학교 공간정보공학과) ;
  • 유명종 (국방과학연구소 3본부 4부)
  • Received : 2013.05.15
  • Accepted : 2013.06.30
  • Published : 2013.08.01
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Abstract

Underwater TRN (Underwater Terrain Referenced Navigation) estimates an underwater vehicle state by measuring a distance between the vehicle and undersea terrain, and comparing it with the known terrain database. TRN belongs to absolute navigation methods, which are used to compensate a drift error of dead reckoning measurements such as IMU (Inertial Measurement Unit) or DVL (Doppler Velocity Log). However, underwater TRN is different to other absolute methods such as USBL (Ultra-Short Baseline) and LBL (Long Baseline), because TRN is independent of the external environment. As a magnetic-field-based navigation, TRN is a kind of geophysical navigation. This paper develops an EKF (Extended Kalman Filter) formulation for underwater TRN. A filter propagation part is composed by an inertial navigation system, and a filter update is executed with echo-sounder measurement. For large-initial-error cases, an adaptive EKF approach is also presented, to keep the filter be stable. At the end, simulation studies are given to verify the performance of the proposed TRN filter. With simplified sensor and terrain database models, the simulation results show that the underwater TRN could support conventional underwater navigation methods.

Keywords

References

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