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http://dx.doi.org/10.12673/jant.2017.21.2.171

Development of the Localization Algorithm for a Hovering-type Autonomous Underwater Vehicle using Extended Kalman Filter  

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)
Publication Information
Journal of Advanced Navigation Technology / v.21, no.2, 2017 , pp. 171-178 More about this Journal
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.
Keywords
Autonomous underwater vehicle; Dead reckoning; Declination; Field test; Extended Kalman filter;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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