Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Development of Integrated Navigation Algorithm for Underwater Vehicle using Velocity Filter

속도필터 적용 수중운동체 복합항법 알고리즘 개발

  • 유태석 (LIG넥스원(주) 마리타임 연구소) ;
  • 정규필 (LIG넥스원(주)) ;
  • 윤선일 (LIG넥스원(주) 마리타임 연구소)
  • Received : 2013.03.12
  • Accepted : 2013.04.19
  • Published : 2013.04.30
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Abstract

This paper describes a robust algorithm for an integrated underwater navigation system based on VKF (velocity Kalman filter). The proposed approach relies on a VKF, augmented by the altitude from an echo-sounder-based switching architecture to yield robust performance, even when DVL (Doppler velocity log) exceeds the measurement range and the measured value cannot be valid. The proposed approach relies on three parts: 1) PINS (pure inertial navigation system), 2) VKF design, and 3) VKF-aided integrated navigation filter design. To evaluate the proposed method, we compare the results of the VKF-aided navigation system with the simulation result from a PINS and conventional INS-DVL method.

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References

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Cited by

  1. Analysis of Integrated Navigation Performance for Sensor Selection of Unmanned Underwater Vehicle (UUV) vol.28, pp.6, 2014, https://doi.org/10.5574/KSOE.2014.28.6.566