Browse > Article
http://dx.doi.org/10.26748/KSOE.2017.08.31.4.315

Navigation System for a Deep-sea ROV Fusing USBL, DVL, and Heading Measurements  

Lee, Pan-Mook (Korea Research Institute of Ships & Ocean Engineering, Marine Robotics Laboratory)
Shim, Hyungwon (Korea Research Institute of Ships & Ocean Engineering, Marine Robotics Laboratory)
Baek, Hyuk (Korea Research Institute of Ships & Ocean Engineering, Marine Robotics Laboratory)
Kim, Banghyun (Korea Research Institute of Ships & Ocean Engineering, Marine Robotics Laboratory)
Park, Jin-Yeong (Korea Research Institute of Ships & Ocean Engineering, Marine Robotics Laboratory)
Jun, Bong-Huan (Korea Research Institute of Ships & Ocean Engineering, Marine Robotics Laboratory)
Yoo, Seong-Yeol (Korea Research Institute of Ships & Ocean Engineering, Marine Robotics Laboratory)
Publication Information
Journal of Ocean Engineering and Technology / v.31, no.4, 2017 , pp. 315-323 More about this Journal
Abstract
This paper presents an integrated navigation system that combines ultra-short baseline (USBL), Doppler velocity log (DVL), and heading measurements for a deep-sea remotely operated vehicle, Hemire. A navigation model is introduced based on the kinematic relation of the position and velocity. The system states are predicted using the navigation model and corrected with the USBL, DVL, and heading measurements using the Kalman filter. The performance of the navigation system was confirmed through re-navigation simulations with the measured data at the Southern Mariana Arc submarine volcanoes. Based on the characteristics of the measurements, the design process for the parameters of the system modeling error covariance, measurement error covariance, and initial error covariance are presented. This paper reviews the influence of the outliers and blackout of the USBL and DVL measurements, and proposes an outlier rejection algorithm that is robust to USBL blackout. The effectiveness of the method is demonstrated with re-navigation for the data that includes USBL blackouts.
Keywords
Underwater navigation; Ultra-short baseline (USBL); Doppler velocity log (DVL); Fusion; Kalman filter;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 Gelb, A., 1974. Applied Optimal Estimation. MIT Press, Cambridge.
2 Kinsey, J.C. and Whitcomb, J.J., 2004. Preliminary Field Experience with DVLNAV Integrated Navigation System for Oceanographic Submersibles. Control Engineering Practice, 12, 1541-1549.   DOI
3 Lee, P., Jun, B., Baek, H., Kim, B., Shim, H., Park, J., Yoo, S., Jeong, W., Baek, S. and Kim, W., 2016. Explorations of Hydrothermal Vents in the Southern Mariana Arc Submarine Volcanoes using the ROV Hemire. Journal of Korean Society of Ocean Engineers, 30(5), 389-399.
4 Lee, P., Jun, B., Kim, K., Lee, J., Aoki, T. and Hyakudome, T., 2007. Simulation of an Inertial Acoustic Navigation System with Range Aiding for an Autonomous Underwater Vehicle. Journal of Oceanic Engineering, 32(2), 392-345.
5 Lee, P., Kim, B., Shim, H., Baek, H., Baek, S., Park, J. and Jun B., 2015. An Underwater Navigation System for an ROV Integrated with Inertial Sensors and USBL Position Measurements. Proc. of the KSOE 2015 Autumn Conf., Daejeon, 450-453.
6 Lee, P., Shim, H., Baek, H., Kim, B., Park, J., Jun, B. and Yoo, S., 2017. A Navigation System of a Deep-sea ROV Fusing USBL and DVL Measurements. Proc. of the KSOE Session of the KAOSTS Conf., April 19-20, Bexco.
7 Miller, P.A., Farrel, J.A., Zhao, Y. and Djapic, V., 2010. Autonomous Underwater Vehicle Navigation. Journal of Oceanic Engineering, 35(3), 663-678.   DOI
8 Ribas, D., Ridao, P., Mallios, A. and Palomeras, N., 2012. Delayed State Information Filter for USBL-Aided AUV Navigation. Int. Conf. on Robotics & Automation, 4898-4903, May 14-18, Saint Paul.
9 Ridao, P., Ribas, D., Hernàndez, E. and Rusu, A., 2011. USBL/DVL Navigation Through Delayed Position Fixes. Int. Conf. on Robotics & Automation, May 9-13, Shanghai.
10 Rigby, P., Pizarro, O. and Williams, S.B., 2006. Towards Geo-Referenced AUV Navigation Through Fusion of USBL and DVL Measurements. Oceans Conference, Boston.
11 Sane-Muntadas, A., Brekke, E.F., Hegrenæs, O. and Pettersen, K.Y., 2015. Navigation and Probability for Successful AUV Docking Using USBL. IFAC-PapersOnLine 48-16, 204-209.
12 Vasilijevic, A., Borovic, B. and Vukic, Z., 2012. Underwater Vehicle Localization with Complementary filter: Performance Analysis in the Shallow Water Environment. Journal of Intelligent Robotic Systems, 68, 373-386.   DOI
13 Kang, H., Hong, S., Sur, J., Kim, J., 2017. Design of GPS-aided Dead Reckoning Algorithm of AUV using Extended Kalman Filter. Journal of Korean Society of Ocean Engineers, 31(1), 28-35.