Proceedings of the Korea Committee for Ocean Resources and Engineering Conference (한국해양공학회:학술대회논문집)

Korean Society of Ocean Engineers (한국해양공학회)
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Rotating Arm Test for Assessment of an Underwater Hybrid Navigation System for a Semi-Autonomous Underwater Vehicle

반자율무인잠수정의 수중 복합항법 시스템 성능평가를 위한 회전팔 시험

  • Lee, Chong-Moo (Korea Research Institute of Ships & Ocean Engineering, KORDI) ;
  • Lee, Pan-Mook (Korea Research Institute of Ships & Ocean Engineering, KORDI) ;
  • Kim, Sea-Moon (Korea Research Institute of Ships & Ocean Engineering, KORDI) ;
  • Hong, Seok-Won (Korea Research Institute of Ships & Ocean Engineering, KORDI) ;
  • Seo, Jae-Won (Automation and Research Institute, Seoul National University) ;
  • Seong, Woo-Jae (Dept. of Naval Architecture & Ocean Engineering, Seoul National University)
  • 이종무 (한국해양연구원 해양시스템안전연구소) ;
  • 이판묵 (한국해양연구원 해양시스템안전연구소) ;
  • 김시문 (한국해양연구원 해양시스템안전연구소) ;
  • 홍석원 (한국해양연구원 해양시스템안전연구소) ;
  • 서재원 (서울대학교 자동화시스템공동연구소) ;
  • 성우제 (서울대학교 조선해양공학과)
  • Published : 2003.05.23
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Abstract

This paper presents a rotating ann test for assessment of an underwater hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. The rotating ann tests are conducted in the Ocean Engineering Basin of KRISO, KORDI to generate circular motion in laboratory, where the USBL system was absent in the basin. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

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