The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Comparison of Attitude Estimation Methods for DVL Navigation of a UUV

UUV의 DVL 항법을 위한 자세 추정 방법 비교

  • Jeong, Seokki (Dept. Control and Instrumentation Engineering, Chosun University) ;
  • Ko, Nak Yong (Dept. Control and Instrumentation Engineering, Chosun University) ;
  • Choi, Hyun-Taek (Korea Research Institute of Ships and Ocean Engineering)
  • Received : 2014.08.18
  • Accepted : 2014.10.27
  • Published : 2014.11.28
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Abstract

This paper compares methods for attitude estimation of a UUV(Unmanned Underwater Vehicle). Attitude estimation plays a key role in underwater navigation using DVL(Doppler Velocity Log). The paper proposes attitude estimation methods using EKF(Extended Kalman Filter), UKF(Unscented Kalman Filter), and CF(Complementary Filter). It derives methods using the measurements from MEMS-AHRS(Microelectromechanical Systems-Attitude Heading Reference System) and DVL. The methods are used for navigation in a test pool and their navigation performance is compared. The results suggest that even if there is no measurement relative to some absolute landmarks, DVL-only navigation can be useful for navigation in a limited time and range.

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References

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