한국해양공학회지 (Journal of Ocean Engineering and Technology)

한국해양공학회 (Korean Society of Ocean Engineers)
권호 표지

초음파 거리계를 갖는 수중복합항법시스템의 초기오차 수렴 특성

Convergence of Initial Estimation Error in a Hybrid Underwater Navigation System with a Range Sonar

  • 이판묵 (한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단) ;
  • 전봉환 (한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단) ;
  • 김시문 (한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단) ;
  • 최현택 (한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단) ;
  • 이종무 (한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단) ;
  • 김기훈 (한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단)
  • LEE PAN MOOK (Ocean Exploration System Research Division, MOERI-KORDI) ;
  • JUN BONG HUAN (Ocean Exploration System Research Division, MOERI-KORDI) ;
  • KIM SEA MOON (Ocean Exploration System Research Division, MOERI-KORDI) ;
  • CHOI HYUN TAEK (Ocean Exploration System Research Division, MOERI-KORDI) ;
  • LEE CHONG MOO (Ocean Exploration System Research Division, MOERI-KORDI) ;
  • KIM KI HUN (Ocean Exploration System Research Division, MOERI-KORDI)
  • 발행 : 2005.12.01
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초록

Initial alignment and localization are important topics in inertial navigation systems, since misalignment and initial position error wholly propagate into the navigation systems and deteriorate the performance of the systems. This paper presents the error convergence characteristics of the hybrid navigation system for underwater vehicles initial position, which is based on an inertial measurement unit (IMU) accompanying a range sensor. This paper demonstrates the improvement on the navigational performance oj the hybrid system with the range information, especially focused on the convergence of the estimation of underwater vehicles initial position error. Simulations are performed with experimental data obtained from a rotating ann test with a fish model. The convergence speed and condition of the initial error removal for random initial position errors are examined with Monte Carlo simulation. In addition, numerical simulation is conducted with an AUV model in lawn-mowing survey mode to illustrate the error convergence of the hybrid navigation System for initial position error.

키워드

참고문헌

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