Browse > Article

Convergence of Initial Estimation Error in a Hybrid Underwater Navigation System with a Range Sonar  

LEE PAN MOOK (Ocean Exploration System Research Division, MOERI-KORDI)
JUN BONG HUAN (Ocean Exploration System Research Division, MOERI-KORDI)
KIM SEA MOON (Ocean Exploration System Research Division, MOERI-KORDI)
CHOI HYUN TAEK (Ocean Exploration System Research Division, MOERI-KORDI)
LEE CHONG MOO (Ocean Exploration System Research Division, MOERI-KORDI)
KIM KI HUN (Ocean Exploration System Research Division, MOERI-KORDI)
Publication Information
Journal of Ocean Engineering and Technology / v.19, no.6, 2005 , pp. 78-85 More about this Journal
Abstract
Initial alignment and localization are important topics in inertial navigation systems, since misalignment and initial position error wholly propagate into the navigation systems and deteriorate the performance of the systems. This paper presents the error convergence characteristics of the hybrid navigation system for underwater vehicles initial position, which is based on an inertial measurement unit (IMU) accompanying a range sensor. This paper demonstrates the improvement on the navigational performance oj the hybrid system with the range information, especially focused on the convergence of the estimation of underwater vehicles initial position error. Simulations are performed with experimental data obtained from a rotating ann test with a fish model. The convergence speed and condition of the initial error removal for random initial position errors are examined with Monte Carlo simulation. In addition, numerical simulation is conducted with an AUV model in lawn-mowing survey mode to illustrate the error convergence of the hybrid navigation System for initial position error.
Keywords
Range Sonar; Inertial Measurement Unit; Doppler Velocity Log; Underwater Navigation; Initial Estimation Error;
Citations & Related Records
연도 인용수 순위
  • Reference
1 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
2 Titterton, D.H. and Weston, J.L. (1997). Strapdown Inertial Navigation Technology, Peter Peregrinus Ltd., London
3 이종무, 이판묵, 김시문, 홍석원, 서재원, 성우제 (2003a). '반자율무인잠수정의 수중 복합항법 시스템의 성능평가를 위한 회전팔 시험', 한국해양공학회지, 제17권, 제4호, pp 73-80
4 Kinsey, J.C and Whitcomb, L.L. (2004). 'Preliminary Field Experience with the DVLNAV Integrated Navigation System for Oceanographic Submersibles,' Control Eng. Practice, Vol 12, Issue 12, pp 1541-1549   DOI   ScienceOn
5 홍현수, 이장규, 박찬국. (2002). '초기 기수각 정보가 필요 없는 SDINS의 운항중 정렬', 제어자동화시스템공학 논문지, 제8 권, 제6호, pp 524-532
6 Dissanayake G., Sukkarieh S., Nebot E., and Durrant-Whyte H. (2001). 'The Aiding of a Low-Cost Strapdown Inertial Measurement Unit Using Vehicle Model Constraints for Land Vehicle Applications,' IEEE Tr. on Robotics & Auto., Vol 17, No 5, pp 731-747   DOI   ScienceOn
7 Larsen, M.B. (2000). 'High Performance Doppler Inertial Navigation Experimental Results,' Oceans Conf., Vol 2, pp 1449-1456   DOI
8 Marco, D.B. and Healey, A.J. (2001). 'Command, Control, and Navigation Experimental Results with the NPS ARIES AUV,' J. of Oceanic Eng., Vol 26, No 4, pp 466-476   DOI   ScienceOn
9 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
10 이종무, 이판묵, 성우제 (2003b). '간접 되먹임 필터를 이용한 관성센서 및 초음파 속도센서 기반의 수중 복합항법 알고리듬', 한국해양공학회지, 제17권, 제6호, pp 83-90
11 Lee, C, Lee, P., Hong, S. Kim, S. and Seong, W. (2004b). 'Underwater Navigation System Based on an Inertial Sensor and a Doppler Velocity Log Using Indirect Feedback Kalman Filter,' ISOPE Conf., Vol 2, pp 214-221
12 이판묵등 (2004). 차세대 심해용 무인잠수정 개발(3), 한국해양연구원 연구보고서 UCM0059A-04028
13 Lee, P., Jeon, B., Kim, S., Choi, H.,Lee, C. Aoki, T. and Hyakudome, T. (2004c), 'An Integrated Navigation System for Autonomous Underwater Vehicles with Two Range Sonars, Inertial Sensors and Doppler Velocity Log,' Oceans & Techno-Ocean Conf., pp 1586-1593   DOI
14 이판묵, 전봉환, 김시문, 이종무, 임용곤, 양승일 (2004a). '초음파 거리계를 이용한 무인잠수정의 수중 복합 항법시스템', 한국해양공학회지, 제18권, 제4호, pp 33-39
15 Gelb, A. (1974). Applied Optimal Estimation, MIT Press