Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
권호 표지

A Strap-Down Inertial Measuring Unit for Motion Measurement of an AUV

AUV의 운동계측을 위한 스트랩-다운형 관성계측장치(IMU)의 개발

  • Lee, Pan-Muk (Korea Institute of Machinery and Materials) ;
  • Jeon, Bong-Hwan (Korea Institute of Machinery and Materials) ;
  • Lee, Jong-Sik (Research Center, Samsung Heavy Industries Co., Ltd) ;
  • Oh, Jun-Ho (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Kim, Do-Hyeon (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
  • 이판묵 (한국기계연구원 선박해양공학연구센터) ;
  • 전봉환 (한국기계연구원 선박해양공학연구센터) ;
  • 이종식 (삼성중공업 중앙연구소) ;
  • 오준호 (한국과학기술원 기계공학과) ;
  • 김도현 (한국과학기술원 기계공학과)
  • Published : 1997.02.01

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Abstract

This paper presents a Inertial Measuring Unit(IMU) for motion measurement of an AUV. The IMU is composed of three parts: inertial sensors with three servo accelerometers and three rate gyros, an analog/digital interface board, and a signal processing board with TMS320C31 DSP processor. The IMU is a class of strap-down inwetial navigation system does not applicable directly to the navigation system in consequence of the AUV and integrated sensors for an integrated navigation system of the AUV. Fast calculstion of direction cosine matrix for the coordinate transformation body to reference is obtained through the DSP processor. A switching algotrithm is used to lessen the low frequency drift effect of the gyros in the vertical plane with use of low pass filtering of the signal of the accelerometers.

Keywords