Browse > Article

Implementation of Deep-sea UUV Precise Underwater Navigation based on Multiple Sensor Fusion  

Kim, Ki-Hun (Ocean Engineering Research Dept., KORDI)
Choi, Hyun-Taek (Ocean Engineering Research Dept., KORDI)
Kim, Sea-Moon (Ocean Engineering Research Dept., KORDI)
Lee, Pan-Mook (Ocean Engineering Research Dept., KORDI)
Lee, Chong-Moo (Ocean Engineering Research Dept., KORDI)
Cho, Seong-Kwon (South Sea Research Institute, KORDI)
Publication Information
Journal of Ocean Engineering and Technology / v.24, no.3, 2010 , pp. 46-51 More about this Journal
Abstract
This paper describes the implementation of a precise underwater navigation solution using a multi-sensor fusion technique based on USBL, DVL, and IMU measurements. To implement this precise underwater navigation solution, three strategies are chosen. The first involves heading alignment angle identification to enhance the performance of a standalone dead-reckoning algorithm. In the second, the absolute position is found quickly to prevent the accumulation of integration error. The third one is the introduction of an effective outlier rejection algorithm. The performance of the developed algorithm was verified with experimental data acquired by the deep-sea ROV, Hemire, in the East-sea during a survey of a methane gas seepage area at a 1,500 m depth.
Keywords
Underwater navigation; DR(Dead reckoning); Sensor fusion; USBL(Ultra short base line); DVL(Doppler velocity log);
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Franken, D. and Hupper, A. (2005). “Improved Fast Covariance Intersection for Distributed Data Fusion“, Int. Conf. on Information Fusion, pp 154-160.
2 Kinsey, J.C. and Whitcomb, L.L. (2007). “In Situ Alignment Calibration of Attitude and Doppler Sensors for Precision Underwater Vehicle Navigation: Theory and Experiment", IEEE Journal of Oceanic Engineering, Vol 32, No 2, pp 286-299.   DOI   ScienceOn
3 Kim, K., Choi, H.T., Kim, S.M. and Lee, P.M. (2009). Implementation of Precise Underwater Navigation, UUST 09.
4 Lee, P. et al. (2007). Sea Trials and Experimental Results of the Deep-sea Unmanned Underwater Vehicles, Hemire and Henuvy, UT07.
5 Niehsen, W. (2002). "Information Fusion Based on Fast Covariance Intersection Filtering", In Proc. Int. Conf: Inf: Fusion (FUSION '02), pp 901-905.
6 Whitcomb, L., Yoerger, D. and Singh, H. (1999). "Advances in Doppler-Based Navigation of Underwater Robotic Vehicles", Proc. of IEEE Int. Conf. on Robotics & Automation, pp 399-406.   DOI
7 김기훈, 이판묵, 전봉환, 이종무, 최현택, 이계홍, 류승철 (2007). “심해무인잠수정 해미래, 해누비의 실해역 성능시험 및 결과분석", 한국해양공학회춘계학술대회, pp 1191-1195.
8 김기훈, 이계홍, 이판묵 (2008). “심해무인잠수정 해미래의 센서 시스템 운용", 한국해양공학회 춘계학술대회, pp 2290-2294.
9 김덕진, 김기훈, 이판묵, 조성권, 박연식 (2008). “심해무인잠수정 해미래의 고도정보 추정을 위한 다중센서융합 알고리즘", 한국해양정보통신학회논문지, 제12권, 제7호, pp 1202-1208.
10 Cleveland, W.S. (1979). “Robust Locally Weighted Regression and Smoothing Scatter Plots", Journal of the American Statistical Association, Vol 74, pp 829-836.   DOI
11 Fossen, T.I. (1994). Guidance and Control of Ocean Vehicles, John Wiley & Sons.