Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Underwater Navigation of AUVs Using Uncorrelated Measurement Error Model of USBL

  • Received : 2022.06.27
  • Accepted : 2022.08.13
  • Published : 2022.10.31
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Abstract

This article presents a modeling method for the uncorrelated measurement error of the ultra-short baseline (USBL) acoustic positioning system for aiding navigation of underwater vehicles. The Mahalanobis distance (MD) and principal component analysis are applied to decorrelate the errors of USBL measurements, which are correlated in the x- and y-directions and vary according to the relative direction and distance between a reference station and the underwater vehicles. The proposed method can decouple the radial-direction error and angular direction error from each USBL measurement, where the former and latter are independent and dependent, respectively, of the distance between the reference station and the vehicle. With the decorrelation of the USBL errors along the trajectory of the vehicles in every time step, the proposed method can reduce the threshold of the outlier decision level. To demonstrate the effectiveness of the proposed method, simulation studies were performed with motion data obtained from a field experiment involving an autonomous underwater vehicle and USBL signals generated numerically by matching the specifications of a specific USBL with the data of a global positioning system. The simulations indicated that the navigation system is more robust in rejecting outliers of the USBL measurements than conventional ones. In addition, it was shown that the erroneous estimation of the navigation system after a long USBL blackout can converge to the true states using the MD of the USBL measurements. The navigation systems using the uncorrelated error model of the USBL, therefore, can effectively eliminate USBL outliers without loss of uncontaminated signals.

Keywords

Acknowledgement

This study was conducted with the support of the "Development of core technologies of underwater robot ICT for polar under-ice-shelf exploration and remote monitoring (4/5)" and the Korea Coast Guard, as a key technology project of the Korea Research Institute of Ships and Ocean Engineering. These findings are a part of the ongoing research results of the "Development of AUV fleet and its operation system for maritime search (2/5)."

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