Browse > Article
http://dx.doi.org/10.5574/KSOE.2013.27.2.093

Development of Integrated Navigation Algorithm for Underwater Vehicle using Velocity Filter  

Yoo, Tae-Suk (Maritime R&D Center, LIG Nex1 Co. Ltd.)
Chung, Gyoo-Pil (LIG Nex1 Co. Ltd.)
Yoon, Seon-Il (Maritime R&D Center, LIG Nex1 Co. Ltd.)
Publication Information
Journal of Ocean Engineering and Technology / v.27, no.2, 2013 , pp. 93-99 More about this Journal
Abstract
This paper describes a robust algorithm for an integrated underwater navigation system based on VKF (velocity Kalman filter). The proposed approach relies on a VKF, augmented by the altitude from an echo-sounder-based switching architecture to yield robust performance, even when DVL (Doppler velocity log) exceeds the measurement range and the measured value cannot be valid. The proposed approach relies on three parts: 1) PINS (pure inertial navigation system), 2) VKF design, and 3) VKF-aided integrated navigation filter design. To evaluate the proposed method, we compare the results of the VKF-aided navigation system with the simulation result from a PINS and conventional INS-DVL method.
Keywords
IMU; Kalman filter; Velocity filter; INS;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Jhon, L., Yang, C., 1976. Nonlirear Attitude Filtering Methods. 2007 J. Guid. Contr. Dynam, 12-28.
2 Lee, J.M., Lee, P.M., Seong, W.J., 2003a. Underwater Hybrid Navigation Algorithm Based on an Inertial Sensor and a Doppler Velocity Log Using an Indirect Feedback Kalman Filter. Journal of Ocean Engineering and Technology, 17(6), 83-90.
3 Lee, J.M., Lee, P.M., Kim, S.M., Hong, S.W., SEO, J.W., Seong, W.J., 2003b. Rotating Arm Test for Assessment of an Underwater Hybrid Navigation System for a Semi-Autonomous Underwater Vehicle. Journal of Ocean Engineering and Technology, 17(4), 73-80.
4 Lee, P.M., Jeon, B.H., Kim, S.M., Lee, J.M., Lim, Y.K., Yang, S.I., 2004. A Hybrid Navigation System for Underwater Unmanned Vehicles, Using a Range Sonar. Journal of Ocean Engineering and Technology, 18(4), 33-39.
5 Titterton, D.H., Weston, J.L., 1997. Strapdown Inertial Navigation Technology. Peter Pegerinus, London.
6 Yanrui, G., Ricardo, M., Joao, S., 2010. Accuracy Analysis of DVL/ IMU/Magnetometer Integrated Navigation System using Different IMUs in AUV. 2010 8th IEEE ICCA, Xiamen, China, 516-521.
7 Wanli, L., Jinling, W., Liangqing, L., Wenqi, W., 2013. A Novel Scheme for DVL-Aided SINS In-Motion Alignment Using UKF Techniques. Sensors, 13, 1046-1063.   DOI   ScienceOn