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http://dx.doi.org/10.5574/KSOE.2017.31.2.170

Underwater Localization using RF Sensor and INS for Unmanned Underwater Vehicles  

Park, Daegil (Dept. of Mechanical Engineering, POSTECH)
Kwak, Kyungmin (Dept. of Mechanical and Automotive Engineering, SeoulTECH)
Jung, Jaehoon (Dept. of Mechanical Engineering, POSTECH)
Kim, Jinhyun (Dept. of Mechanical and Automotive Engineering, SeoulTECH)
Chung, Wan Kyun (Dept. of Mechanical Engineering, POSTECH)
Publication Information
Journal of Ocean Engineering and Technology / v.31, no.2, 2017 , pp. 170-176 More about this Journal
Abstract
In this paper, we propose an underwater localization scheme through the fusion of an inertial navigation system (INS) and the received signal strength (RSS) of electromagnetic (EM) wave sensors to guarantee precise localization performance with high sampling rates. In this localization scheme, the INS predicts the pose of the unmanned underwater vehicle (UUV) by dead reckoning at every step, and the RF sensors corrects the UUV position functions using the Earth-fixed reference when the UUV is located in underwater wireless sensor networks (UWSN). The localization scheme and state modeling were conducted in the extended Kalman filter framework, and UUV localization experiments were conducted in a basin environment. The scheme achieved reliable localization accuracy during long-term navigation, demonstrating the feasibility of exploiting EM wave attenuation as Earth-fixed reference sensors.
Keywords
Underwater localization; RF range sensor; Underwater robot; INS; Sensor fusion;
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