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Underwater Localization using RF Sensor and INS for Unmanned Underwater Vehicles

RF 센서와 INS을 이용한 UUV 위치 추정

  • 박대길 (포항공과대학교 기계공학과) ;
  • 곽경민 (서울과학기술대학교 기계.자동차공학과) ;
  • 정재훈 (포항공과대학교 기계공학과) ;
  • 김진현 (서울과학기술대학교 기계.자동차공학과) ;
  • 정완균 (포항공과대학교 기계공학과)
  • Received : 2017.02.02
  • Accepted : 2017.04.20
  • Published : 2017.04.30

Abstract

In this paper, we propose an underwater localization scheme through the fusion of an inertial navigation system (INS) and the received signal strength (RSS) of electromagnetic (EM) wave sensors to guarantee precise localization performance with high sampling rates. In this localization scheme, the INS predicts the pose of the unmanned underwater vehicle (UUV) by dead reckoning at every step, and the RF sensors corrects the UUV position functions using the Earth-fixed reference when the UUV is located in underwater wireless sensor networks (UWSN). The localization scheme and state modeling were conducted in the extended Kalman filter framework, and UUV localization experiments were conducted in a basin environment. The scheme achieved reliable localization accuracy during long-term navigation, demonstrating the feasibility of exploiting EM wave attenuation as Earth-fixed reference sensors.

Acknowledgement

Grant : 유체 저항이 작은 생체모사 수중 이동로봇

Supported by : 한국연구재단, 산업통상자원부, 한국해양과학기술진흥원

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