DOI QR코드

DOI QR Code

Comparison of Attitude Estimation Methods for DVL Navigation of a UUV

UUV의 DVL 항법을 위한 자세 추정 방법 비교

  • Jeong, Seokki (Dept. Control and Instrumentation Engineering, Chosun University) ;
  • Ko, Nak Yong (Dept. Control and Instrumentation Engineering, Chosun University) ;
  • Choi, Hyun-Taek (Korea Research Institute of Ships and Ocean Engineering)
  • Received : 2014.08.18
  • Accepted : 2014.10.27
  • Published : 2014.11.28

Abstract

This paper compares methods for attitude estimation of a UUV(Unmanned Underwater Vehicle). Attitude estimation plays a key role in underwater navigation using DVL(Doppler Velocity Log). The paper proposes attitude estimation methods using EKF(Extended Kalman Filter), UKF(Unscented Kalman Filter), and CF(Complementary Filter). It derives methods using the measurements from MEMS-AHRS(Microelectromechanical Systems-Attitude Heading Reference System) and DVL. The methods are used for navigation in a test pool and their navigation performance is compared. The results suggest that even if there is no measurement relative to some absolute landmarks, DVL-only navigation can be useful for navigation in a limited time and range.

Keywords

References

  1. Arom Hwang, Seon-Il Yoon and Jee-Hun Song, "Hardware in Loop Simulation on Autopilot Controller with MEMS AHRS for high Speed Unmanned Underwater Vehicle," Journal of Ocean Engineering and Technology, vol. 26, no. 5, pp. 81-86, Oct., 2012. https://doi.org/10.5574/KSOE.2012.26.5.081
  2. Donghoon Kim, Donghwa Lee, Hyun Myung, and Hyun-Taek Choi, "Multiple Templates and Weighted Correlation Coefficient-based Object Detection and Tracking for Underwater Robots," Journal of Korea Robotics Society, Vol.7, No.2, pp.142-149, June 2012. https://doi.org/10.7746/jkros.2012.7.2.142
  3. Giancarlo Troni and Louis L. Whitcomb, "Preliminary Experimental Evaluation of a Doppler-aided Attitude Estimator for Improved Doppler Navigation of Underwater Vehicles," Robotics and Automation (ICRA), 2013 IEEE International Conference on, pp. 4134-4140, May 6-10, 2013.
  4. Minh-Duc Hua, Konrad Rudin, Guillaume Ducard, Tarek Hamel, and Robert Mahony, "Nonlinear attitude estimation with measurement decoupling and anti-windup gyro-bias compensation," Preprints of the 18th IFAC World Congress, Aug. 28 - Sep. 2, 2011.
  5. Phil Kim, Kalman Filter for Beginners: with MATLAB Examples, CreateSpace Independent Publishing Platform, 2011.
  6. R. Negenborn, "Robot Localization and Kalman Filters: On Finding Your Position in a Noisy World," M.S. thesis, Utrecht Univ., 2003.
  7. T. G. Kim, H. T. Choi, Nak Yong Ko, "Concurrent estimation of robot pose and landmark locations in underwater robot," 2013 International Conference on Control, Automation and Systems (ICCAS), pp. 195-197, 2013.
  8. Daum, F., "Nonlinear filters: beyond the Kalman filter," Aerospace and Electronic Systems Magazine, IEEE, vol.20, no.8, pp.57-69, Aug., 2005. https://doi.org/10.1109/MAES.2005.1499276
  9. Oh-Shin Kwon, "Nonlinear System State Estimating Using Unscented Particle Filters," Journal of the Korea Institute of Information and Communication Engineering, vol. 17, no. 6, pp. 1273-1280, 2013. https://doi.org/10.6109/jkiice.2013.17.6.1273
  10. Julier, S.J., Uhlmann, J.K., "Unscented filtering and nonlinear estimation," Proceedings of the IEEE, vol.92, no.3, pp.401-422, Mar., 2004. https://doi.org/10.1109/JPROC.2003.823141
  11. M. Euston, P. Coote, R. Mahony, J. Kim, T. Hamel, "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on, pp.340-345, 22-26 Sept., 2008.
  12. Tae Gyun Kim and Nak Yong Ko, "Localization of an Underwater Robot Using Acoustic Signal," Journal of Korea Robotics Society, Vol.7, No.4, pp.231-242, Dec. 2012. https://doi.org/10.7746/jkros.2012.7.4.231
  13. M. Rhudy and Y. Gu, "Understanding Nonlinear Kalman Filters, Part II: An Implementation Guide," Interactive Robotics Letters, West Virginia Univ., June 2013.
  14. A.N. Ndjeng, A. Lambert, D. Gruyer, and S. Glaser, "Experimental Comparison of Kalman Filters for Vehicle Localization," 2009 IEEE Intelligent Vehicles Symposium, June 2009, pp.441-446, Xi'an.
  15. B. Mourllion, D. Gruyer, A. Lambert, and S. Glaser, "Kalman Filters Predictive Steps Comparison for Vehicle Localization," 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Aug. 2005, pp.565-571.
  16. M. Karimi, M. Bozorg, and A. R. Khayatian, "A Comparison of DVL/INS Fusion by UKF and EKF to Localize an Autonomous Underwater Vehicle," Proceeding of the 2013 RSI/ISM International Conference on Robotics and Mechatronics, pp.62-67, Feb. 2013, Tehran, Iran.
  17. L. L. Whitcomb, D. R. Yoerger, and H. Singh, "Combined Doppler/LBL Based Navigation of Underwater Vehicles," 11-th International Symposium on Unmanned Untethered Submersible Technology, Aug. 1999, New Hampshire, USA.
  18. G. Grenon, P. E. An, S. M. Smith, and A. J. Healey, "Enhancement of the Inertial Navigation System for the Morpheus Autonomous Underwater Vehicles," IEEE Journal of Oceanic Engineering, Vol. 26, No. 4, pp.548-560, Oct. 2001. https://doi.org/10.1109/48.972091
  19. J. L. Marins, X. Yun, E. R. Bachmann, R. B. McGhee, and M. J. Zyda, "An Extended Kalman Filter for Quaternion-Based Orientation Estimation Using MARG Sensors," Proc. 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2003-2011, Oct. 2001.
  20. P. Batista, C. Silvestre, and P. Oliveira, "Optimal Position and Velocity Navigation Filters for Autonomous Vehicles," Automatica, Vol.46, pp.767-774, 2010. https://doi.org/10.1016/j.automatica.2010.02.004
  21. M. Barisic, A. Vasilijevic, and D. Nad, "Sigma-Point Unscented Kalman Filter Used For AUV Navigation," 20th Mediterranean Conference on Control & Automation, pp.1365-1372, Barcelona, Spain, July 3-6, 2012.

Cited by

  1. Path Estimation Method in Shadow Area Using Underwater Positioning System and SVR vol.12, pp.2, 2017, https://doi.org/10.7746/jkros.2017.12.2.173