The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Localization of the surface vehicles using DWT and GPS/INS fusion algorithm

DWT와 GPS/INS융합 알고리즘을 이용한 수면이동체의 위치 인식

  • Yoo, Han-Dong (Electronic Engineering, Pusan National University) ;
  • Lee, In-Uk (Electronic Engineering, Pusan National University) ;
  • Choi, Won-Suck (Electronic Engineering, Pusan National University) ;
  • Lee, Jang-Myung (Electronic Engineering, Pusan National University)
  • Received : 2014.08.15
  • Accepted : 2014.11.26
  • Published : 2015.02.27
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Abstract

This paper proposes a study for accurate surface localization system using DWT(Discrete Wavelet Transform) and GPS/INS fusion algorithm. Because the propagation in the underwater is not passed by characteristics of the medium unlike the ground, the sonar system like DVL is used instead of GPS. But since these systems are installed on the seafloor and operated, a long time is required for installation and navigation systems are limited outside of the range area. And it is difficult to estimate position in a three-dimensional considering the depth in actual marine environment. In this paper, before the development of underwater localization system, precisely estimated position system is proposed in a two-dimensional by developing surface localization system using removing noise and disturbance with DWT and relatively inexpensive GPS and INS sensor.

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References

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