Journal of Advanced Navigation Technology (한국항행학회논문지)

The Korean Navigation Institute (한국항행학회)
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Development of the Localization Algorithm for a Hovering-type Autonomous Underwater Vehicle using Extended Kalman Filter

확장칼만필터를 이용한 호버링타입 무인잠수정의 위치추정알고리즘 개발

  • Kang, Hyeon-seok (Department of Convergence Study on the Ocean Science and Technology, Ocean Science and Technology School, Korea Maritime and Ocean University-Korea Institute of Ocean Science and Technology) ;
  • Hong, Sung-min (Department of Convergence Study on the Ocean Science and Technology, Ocean Science and Technology School, Korea Maritime and Ocean University-Korea Institute of Ocean Science and Technology) ;
  • Sur, Joo-no (Research Institute of Industrial Technology, Korea Maritime and Ocean University) ;
  • Kim, Dong-hee (Naval R&D Center, Hanwha Systems) ;
  • Jeong, Jae-hun (Department of Mechanical Engineering, Korea Maritime and Ocean University) ;
  • Jeong, Seong-hoon (Research Institute of Industrial Technology, Korea Maritime and Ocean University) ;
  • Choi, Hyeung-sik (Department of Mechanical Engineering, Korea Maritime and Ocean University) ;
  • Kim, Joon-young (Department of Mechanical Engineering, Korea Maritime and Ocean University)
  • 강현석 (한국해양대학교-한국해양과학기술원 해양과학기술전문대학원 해양과학기술융합학과) ;
  • 홍승민 (한국해양대학교-한국해양과학기술원 해양과학기술전문대학원 해양과학기술융합학과) ;
  • 서주노 (한국해양대학교 산업기술연구소) ;
  • 김동희 (한화시스템 해양연구소) ;
  • 정재훈 (한국해양대학교 기계공학부) ;
  • 정성훈 (한국해양대학교 산업기술연구소) ;
  • 최형식 (한국해양대학교 기계공학부) ;
  • 김준영 (한국해양대학교 기계공학부)
  • Received : 2017.03.27
  • Accepted : 2017.04.24
  • Published : 2017.04.30
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Abstract

In this paper, in order to verify the performance of a localization algorithm using GPS as an auxiliary sensor, the algorithm was applied to a hovering-type autonomous underwater vehicle (AUV) to perform a field test. The applied algorithm is an algorithm to improve the accumulated positional error of dead reckoning using doppler velocity logger(DVL) and tilt-compensated compass module (TCM) mounted on the AUV. GPS when surfaced helps the algorithm to estimate the position and the heading bias error of TCM for geodetic north, which makes it possible to perform dead reckoning on north-east-down (NED) coordinates. As a result of field test performing heading control, it was judged that the algorithm could improve the positional error, enhance the operational capability of AUV and contribute to the research of underwater navigation depending on a magnetic compass.

본 논문에서는 위성항법장치 (GPS; global positioning system)를 보조센서로 사용하는 위치추정알고리즘의 성능을 검증하기 위해 호버링타입 무인잠수정에 알고리즘을 적용하여 실제 해역에서 실험을 수행하였다. 적용된 알고리즘은 무인잠수정에 탑재된 도플러 속도계 (DVL; doppler velocity logger), TCM (tilt-compensated compass module)을 이용한 추측항법의 시간에 따라 누적되는 위치오차를 개선하기 위한 알고리즘이다. 수면에서 GPS 위치정보를 수신하여 무인잠수정의 위치와 진북에 대한 TCM의 방향각 바이어스 오차를 추정하고, 이를 통해 진북 (geodetic north) 기준의 좌표계에 대한 추측항법을 수행한다. 실제 해역에서 방향각 제어 실험을 수행한 결과, 위치추정알고리즘을 통해 기존 추측항법의 위치오차가 개선되고 TCM의 방향각 바이어스 오차를 추정함을 확인하였다.

Keywords

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