Browse > Article

Pseudo Long Base Line (LBL) Hybrid Navigation Algorithm Based on Inertial Measurement Unit with Two Range Transducers  

LEE PAN-MOOK (Maritime and Ocean Engineering Research Institute (MOERI), KORDI)
JUN BONG-HUAN (Maritime and Ocean Engineering Research Institute (MOERI), KORDI)
HONG SEOK-WON (Maritime and Ocean Engineering Research Institute (MOERI), KORDI)
LIM YONG-KON (Maritime and Ocean Engineering Research Institute (MOERI), KORDI)
YANG SEUNG-IL (Maritime and Ocean Engineering Research Institute (MOERI), KORDI)
Publication Information
Journal of Ocean Engineering and Technology / v.19, no.5, 2005 , pp. 71-77 More about this Journal
Abstract
This paper presents an integrated underwater navigational algorithm for unmanned underwater vehicles, using additional two-range transducers. This paper proposes a measurement model, using two range measurements, to improve the performance of an IMU-DVL (inertial measurement unit - Doppler velocity log) navigation system for long-time operation of underwater vehicles, excluding DVL measurement. Extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation when the external measurements are available. Simulation was conducted with the 6-d.o.f nonlinear numerical model of an AUV in lawn-mowing survey mode, at current flaw, where the velocity information is unavailable. Simulations illustrate the effectiveness of the integrated navigation system, assisted by the additional range measurements without DVL sensing.
Keywords
Range Sonar; Inertial Measurement Unit; Pseudo Long Base Line; Underwater Navigation; Autonomous Underwater Vehicle (AUV);
Citations & Related Records
연도 인용수 순위
  • Reference
1 Milne, P.H. (1983). Underwater Acoustic Positioning Systems, Gulf Publishing Co., Huston
2 Whitcomb, L., Yoerger, D. and Singh, H. (1999). 'Advances in Doppler-based Navigation of Underwater Robotic Vehicles,' Int. Conf. on Robotics & Auto., pp 399-406   DOI
3 Celb, A. (1974). Applied Optimal Estimation, MIT Press
4 Lee, P., Jeon, B., Kim, S., Choi, H., Lee, C, Aoki, T. and Hyakudome, T. (2004b). 'An Integrated Navigation System for Autonomous Underwater Vehicles with Two Range Sonars, Inertial Sensors and Doppler Velocity Log,' Oceans Techno-Oceans Conf., pp 1586- 1593   DOI
5 이판묵, 양승일, 홍석원, 엄용곤, 이종무, 전봉환, 최현택, 김시문, 서영우, 한상철 외 (2005). 차세대 심해용 무인잠수정 개발 (4), 한국해양연구원 연구보고서 UCM00790-05020
6 Larsen, M.B. (2000). 'High Performance Doppler Inertial Navigation Experimental Results,' Oceans Conf., Vol 2, pp 1449-1456   DOI
7 RD Instruments Inc. (1997). 'Acoustic doppler current profilers - workhorse navigator doppler velocity log technical manual,' P/N 957-6023-00, October
8 Lee, P., Kim, S., Jeon, B., Choi, H. and Lee C. (2004a). 'Improvement on an Inertial-Doppler Navigation System of Unmanned Underwater Vehicles Using a Complementary Range Sonar,' UT 2004 Symposium   DOI
9 이판묵, 전봉환,김시문, 이종무, 임용곤, 양승일 (2004). '초음파 거리계를 이용한 무인잠수정의 수중 복합 항법시스템',한국해양공학회지, 제18권, 제4호, pp 33-39
10 Kinsey, J.C, and Whitcomb, L.L. (2004). 'Preliminary Field Experience with the DVLNA V Integrated Navigation System for Oceanographic Submersibles,' Control Eng. Practice, Vol 12, Issue 12, pp 1541-1549   DOI   ScienceOn
11 Lee, C. Lee, P., Hong, S., Kim, S., Seong, S. (2005). 'Underwater Navigation System Based on an Inertial Sensor and a Doppler Velocity Log Using Indirect Kalman Filter,' Int. J. of Offshore and Polar Eng., Vol 15, No 2, pp 88-95
12 이종무, 이판묵, 성우제 (2003). '간접 되먹임 필터를 이용한 관성센서 및 초음파 속도센서 기반의 수중 복합항볍 알고리듬', 한국해양공학회지, 제17권 제16호, pp 83-90
13 Titterton, D.H. and Weston, J.L. (1997). Strapdown Inertial Navigation Technology, Peter Peregrinus Ltd., London
14 이종무, 이판묵, 김시문, 홍석원, 서재원, 성우제 (2003a). '반자율무인잠수정의 수중 복합항법 시스템의 성능평가를 위한 회전팔 시험', 한국해양공학회지, 제17권, 제4호, pp 73-80