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Underwater Navigation of an Autonomous Underwater Vehicle Using Range Measurements from a Fixed Reference Station  

Lee, Pan-Mook (Ocean Exploration System Research Division, MOERI, KORDI)
Jun, Bong-Huan (Ocean Exploration System Research Division, MOERI, KORDI)
Lim, Yong-Kon (Ocean Exploration System Research Division, MOERI, KORDI)
Publication Information
Journal of Ocean Engineering and Technology / v.22, no.4, 2008 , pp. 106-113 More about this Journal
Abstract
This paper presents an underwater navigation system based on range measurements from a known reference station fixed on the sea bottom or floated at surface with a buoy, for which the system is extended to 3-dimensional coordinates. We formulated a state equation in polar coordinates and constituted an extended Kalman filter for discrete-time implementation of the navigation algorithm. The autonomous underwater vehicle, lSiMl, cruising with a constant speed can estimate its trajectory using just range measurements and additional depth, heading and pitch sensors. Simulation studies were performed to evaluate the underwater navigation of the maneuvering AUV with range measurements. We modulated the sample rate of range measurements to evaluate the effect of the update rate, and changed the initial position error of the AUV to check the robustness to estimation errors. Simulation results illustrates that the extended navigation system provides convergence of the state estimates. The navigation system was conditionally stable when it had initial position errors.
Keywords
Underwater navigation; Range measurement; Observability; Autonomous underwater vehicle (AUV); Kalman filter;
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Times Cited By KSCI : 3  (Citation Analysis)
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