한국해양공학회지 (Journal of Ocean Engineering and Technology)

  • 제18권4호
  • /
  • Pages.33-39
  • /
  • 2004
  • /
  • 1225-0767(pISSN)
  • /
  • 2287-6715(eISSN)
한국해양공학회 (Korean Society of Ocean Engineers)
권호 표지

초음파 거리계를 이용한 무인잠수정의 수중 복합 항법시스템

A Hybrid Navigation System for Underwater Unmanned Vehicles, Using a Range Sonar

  • 이판묵 (한국해양연구원 해양시스템안전연구소) ;
  • 전봉환 (한국해양연구원 해양시스템안전연구소) ;
  • 김시문 (한국해양연구원 해양시스템안전연구소) ;
  • 이종무 (한국해양연구원 해양시스템안전연구소) ;
  • 임용곤 (한국해양연구원 해양시스템안전연구소) ;
  • 양승일 (한국해양연구원 해양시스템안전연구소)
  • LEE PAN-MOOK (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
  • JEON BONG-HWAN (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
  • KIM SEA-MOON (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
  • LEE CHONG-MOO (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
  • LIM YONG-KON (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
  • YANG SEUNG-IL (Korea Research Institute of Ships and Ocean Engineering, KORDI)
  • 발행 : 2004.08.01
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초록

This paper presents a hybrid underwater navigation system for unmanned underwater vehicles, using an additional range sonar, where the navigation system is based on inertial and Doppler velocity sensors. Conventional underwater navigation systems are generally based on an inertial measurement unit (IMU) and a Doppler velocity log (DVL), accompanying a magnetic compass and a depth sensor. Although the conventional navigation systems update the bias errors of inertial sensors and the scale effects of DVL, the estimated position slowly drifts as time passes. This paper proposes a measurement model that uses the range sonar to improve the performance of the IMU-DVL navigation system, for extended operation of underwater vehicles. The proposed navigation model includes the bias errors of IMU, the scale effects of VL, and the bias error of the range sonar. An extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation, when the external measurements are available. To illustrate the effectiveness of the hybrid navigation system, simulations were conducted with the 6-d.o.f. equations of motion of an AUV in lawn-mowing survey mode.

키워드

참고문헌

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