Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Hydrodynamics Embedded Navigation Filter Design for Underwater Autonomous Systems

수중 자율이동시스템의 수력학 모델 내장형 항법필터 설계

  • Kim, Eun-Chong (School of Mechanical and Control Engineering, Handong Global University) ;
  • Lee, Yun-Ha (School of Mechanical and Control Engineering, Handong Global University) ;
  • Jung, Young-Kwang (School of Mechanical and Control Engineering, Handong Global University) ;
  • Ra, Won-Sang (School of Mechanical and Control Engineering, Handong Global University)
  • 김은총 (한동대학교 기계제어공학과) ;
  • 이윤하 (한동대학교 기계제어공학과) ;
  • 정영광 (한동대학교 기계제어공학과) ;
  • 나원상 (한동대학교 기계제어공학과)
  • Published : 2015.07.15
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Abstract

In this paper, a dynamics model embedded navigation filter is newly suggested for underwater autonomous systems without position or attitude aid. In order to ensure the observability on the INS errors, the hydrodynamics of the underwater vehicle is incorporated with the INS attitude error. This approach allows us to estimate and compensate the INS errors in spite of using external velocity sensor. Through the simulation, the performance and effectiveness of the proposed scheme are demonstrated.

Keywords