Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
권호 표지
DOI QR코드

DOI QR Code

A Study on Localization Technique Using Extended Kalman Filter for Model-Scale Autonomous Marine Mobility

모형 스케일 자율운항 해양 이동체의 확장칼만필터 기반 측위 기법에 관한 연구

  • Youngjun You (School of Naval Architecture and Ocean Engineering, University of Ulsan)
  • 유영준 (울산대학교 조선해양공학부)
  • Received : 2024.01.24
  • Accepted : 2024.02.28
  • Published : 2024.04.20
Download PDF
⟨ Previous Next ⟩

Abstract

Due to the low accuracy of measured data obtained from low-cost GNSS and IMU devices, it was hard to secure the required accuracy of the measured position and heading angle for autonomous navigation which was conducted by a model-scale marine mobility. In this paper, a localization technique using the Extended Kalman Filter (EKF) is proposed for coping with the issue. First of all, a position and heading angle estimator is developed using EKF with the assumption of a point mass model. Second, the measured data from GNSS and IMU, including position, heading angle, and velocity are used for the estimator. In addition, the heading angle is additionally obtained by comparing the LiDAR point cloud with map information for a temporal water tank. The newly acquired heading angle is integrated into the estimator as an additional measurement to correct the inaccuracy in the heading angle measured from the IMU. The effectiveness of the proposed approach is investigated using data acquired from preliminary tests of the model-scale autonomous marine mobility.

Keywords

Acknowledgement

본 논문은 2023년도 교육부의 재원으로 한국연구재단의 지원을 받아 수행된 지자체-대학 협력기반 지역혁신 사업(2021RIS003)의 결과입니다. 또한, 2023년도 자율운항보트경진대회에 참여, 모형 스케일 자율운항 해양 이동체를 설계·제작했던 울산대학교 조선해양공학부 학부 과정 강민우, 김수빈, 김승태, 윤성철, 이예찬, 이정훈, 이지후, 장예범 학생에게 감사의 뜻을 전합니다.

References

  1. Advanced Autonomous Waterborne Applications Partners, 2016. Remote and Autonomous Ships: The Next Steps. Advanced Autonomous Waterborne Applications Project Coordination(https://www.rolls-royce.com/~/media/Files/R/Rolls-Royce/documents/%20customers/marine/ship-intel/rr-ship-intel-aawa-8pg.pdf).
  2. Bellafaire, M.J., Mayer, T.E., Corlett, E.J. and Rawashdeh, O.A., 2022. Evaluation of dead reckoning navigation for underwater drones using ROS, 2022 American Society for Engineering Education - North Central Section Conference, Pennsylvania, USA.
  3. Chae, H. and Yi, K., 2020. Virtual target-based overtaking decision, motion planning, and control of autonomous vehicles, IEEE Access, 8, pp.51363-51376 (https:// ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9034121). https://doi.org/10.1109/ACCESS.2020.2980391
  4. Chalvatzaras, A., Pratikakis, I. and Amanatiadis, A., 2023. A survey on map-based localization techniques for autonomous vehicles, IEEE Transactions on intelligent vehicles, 8(2), pp.1574-1596.
  5. International Maritime Organization, 2021. Outcome of the regulatory scoping exercise for the use of maritime autonomous surface ships, International Maritime Organization, London, United Kingdom.
  6. Jo, H., Kim, J., Kim, S., Woo, J. and Park, J., 2021. Development of autonomous algorithm for boat using robot operating system. Journal of Naval Architecture and Ocean Engineering, 60(6), pp.121-128.
  7. Lloyds, 2017. Ship right: design and construction - LR code for unmanned marine systems, Lloyds Register, London, United Kingdom.
  8. Maritime UK, 2017. Being a responsible industry: an industry code of practice - Version 1.0, Society of Maritime Industry, London, United Kingdom.
  9. Norwegian Forum for Autonomous Ships, 2017. Definitions for autonomous merchant ships, Norwegian Forum for Autonomous Ships, SINTEF Ocean AS.Trondheim, Norway.
  10. Novatel Inc., 2015. An introduction to GNSS: GPS, GLONASS, BeiDou, Galileo and other global navigation satellite systems, Novatel Inc., Calgary, Canada (https://www.calameo.com/read/00191579602f9b13b088e).
  11. Sawada, R. and Hirata, K. 2023. Mapping and localization for autonomous ship using LiDAR SLAM on the sea. Journal of Marine Science and Technology, 28, pp.410-421. https://doi.org/10.1007/s00773-023-00931-y
  12. SAE International, 2016. Surface vehicle recommended practice, SAE International, Warrendale, USA.
  13. Seo, D. and Woo, R., 2021. Vehicle localization method for lateral position within lane based on vision and HD map, The Journal of The Korea Institute of Intelligent Transport Systems, 20(5), pp.186-201. https://doi.org/10.12815/kits.2021.20.5.186
  14. Society of Naval Architects of Korea & Korea Research Institute of Ships & Ocean Engineering, 2022. Regulations for Korea autonomous boat competition, Document distributed by SNAK, URL: http://www.snak.or.kr [Accessed 21 July 2023].
  15. Society of Naval Architects of Korea & Korea Research Institute of Ships & Ocean Engineering, 2023. Contest rules for Korea autonomous boat competition, Document distributed by SNAK, URL: http://www.snak.or.kr [Accessed 21 July 2023].
  16. Utne, I., 2017. Norwegian University of Science and Technology Centre for Autonomous Marine Operations and Systems - Shipping and digitalization, Norwegian University of Science and Technology, Trondheim, Norway.