Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2013.13.9017

Terrain Referenced Navigation for Autonomous Underwater Vehicles  

Mok, Sung-Hoon (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology)
Bang, Hyochoong (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology)
Kwon, Jayhyun (Department of Geo-Informatics, University of Seoul)
Yu, Myeongjong (Inertial Navigation Laboratory, Agency of Defense Development)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.8, 2013 , pp. 702-708 More about this Journal
Abstract
Underwater TRN (Underwater Terrain Referenced Navigation) estimates an underwater vehicle state by measuring a distance between the vehicle and undersea terrain, and comparing it with the known terrain database. TRN belongs to absolute navigation methods, which are used to compensate a drift error of dead reckoning measurements such as IMU (Inertial Measurement Unit) or DVL (Doppler Velocity Log). However, underwater TRN is different to other absolute methods such as USBL (Ultra-Short Baseline) and LBL (Long Baseline), because TRN is independent of the external environment. As a magnetic-field-based navigation, TRN is a kind of geophysical navigation. This paper develops an EKF (Extended Kalman Filter) formulation for underwater TRN. A filter propagation part is composed by an inertial navigation system, and a filter update is executed with echo-sounder measurement. For large-initial-error cases, an adaptive EKF approach is also presented, to keep the filter be stable. At the end, simulation studies are given to verify the performance of the proposed TRN filter. With simplified sensor and terrain database models, the simulation results show that the underwater TRN could support conventional underwater navigation methods.
Keywords
underwater terrain referenced navigation; autonomous underwater vehicle; extended Kalman filter; adaptive filter;
Citations & Related Records
Times Cited By KSCI : 7  (Citation Analysis)
연도 인용수 순위
1 Available online at http://www.gebco.net/data_and_products/gridded_bathymetry_data/
2 J. Metzger, K. Wisotzky, J. Wendel, and G. F. Trommer, "Sigmapoint filter for terrain-referenced navigation," AIAA Guidance, Navigation, and Control Conference and Exhibit, San Francisco, California, Aug. 2005.
3 N. Bergman, L. Ljung, and F. Gustafsson "Point-mass filter and Cramer-Rao bound for terrain-aided navigation," Conference on Decision and Control, Dec. 1997.
4 S.-H. Mok and H.-C. Bang, "Terrain slope estimation methods using the least squares approach for terrain referenced navigation," International Journal of Aeronautical and Space Sciences, vol. 14, no. 1, pp. 85-90, 2013.   DOI   ScienceOn
5 L. Stutters and H. Liu, "Navigation technologies for autonomous underwater vehicles," IEEE Transactions on Systems, Man, and Cybernetics, vol. 38, no. 4, pp. 581-589, 2008.   DOI   ScienceOn
6 C.-M. Lee, P.-M. Lee, and W.-J. Seong, "Underwater hybrid navigation algorithm based on an inertial sensor and a Doppler velocity log using an indirect feedback Kalman filter," Journal of Korean Society of Coastal and Ocean Engineers (in Korean), vol. 17, no. 6, pp. 83-90, 2003.   과학기술학회마을
7 P.-M. Lee, B.-H. Jeon, S.-M. Kim, C.-M. Lee, Y.-K. Lim, and S.-I. Yang, "A hybrid navigation system for underwater unmanned vehicles, using a range sonar," Journal of Korean Society of Coastal and Ocean Engineers (in Korean), vol. 18, no. 4, pp. 33-39, 2004.   과학기술학회마을
8 K. B. Anonsen and O. K. Hagen, "An analysis of real-time terrain aided navigation results from a HUGIN AUV," OCEANS 2010, Sep. 2010.
9 I. T. Ruiz, S. Raucourt, Y. Petillot, and D. M. Lane, "Concurrent mapping and localization using sidescan sonar," IEEE Journal of Oceanic Engineering, vol. 29, no. 2, pp. 442-456, 2004.   DOI   ScienceOn
10 I. Nygren, "Robust and efficient terrain navigation of underwater vehicles," IEEE/ION Position, Location and Navigation Symposium, May 2008.
11 B. Jalving, M. Mandt, O. Hagen, and F. Pohner "Terrain referenced navigation of AUVs and submarines using multibeam echo sounders," Proc. of the UDT Europe, Nice, France, Jun. 2004.
12 D. H. Larry and D. A. Ronald, "Nonlinear Kalman filtering techniques for terrain-aided navigation," IEEE Transactions on Automatic Control, vol. 28, no. 3, pp. 315-323, 1983.   DOI
13 D.-H. Lee, H.-W. Kim, and J.-M. Lee, "Obstacle recognition and avoidance of the bio-mimetic underwater robot using IR and compass sensors," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 10, pp. 928-933, 2012.   DOI   ScienceOn
14 D.-G. Park, K.-M. Kwak, W.-K. Chung, and J.-H. Kim, "Infrastructure-based localization system using underwater wireless sensor network," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 8, pp. 699-705, 2012.   과학기술학회마을   DOI   ScienceOn
15 O. Bergem, "Bathymetric navigation of autonomous underwater vehicles using a multi-beam sonar and a Kalman filter with relative measurement covariance matrices," Ph.D. Thesis, University of Trondheim, 1993.
16 D. H. Titterton and J. L. Weston, Strapdown Inertial Navigation Technology, The Institution of Electrical Engineers, pp. 17-58, 2004.
17 J. J. Leonard, A. A. Bennett, C. M. Smith, and H. J. S. Feder, "Autonomous underwater vehicle navigation," Proc. IEEE ICRA Workshop Navigat. Outdoor Auton. Vehicles, Leuven, Belgium, May 1998.
18 K.-H. Kim, H.-T. Choi, S.-M. Kim, P.-M. Lee, C.-M. Lee, and S.-K. Cho, "Implementation of deep-sea UUV precise underwater navigation based on multiple sensor fusion," Journal of Korean Society of Coastal and Ocean Engineers (in Korean), vol. 24, no. 3, pp. 46-51, 2010.   과학기술학회마을
19 K.-M. Kwak and J.-H. Kim, "Development of 3-dimensional sensor nodes using electro-magnetic waves for underwater localization," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 19, no. 2, pp. 107-112, 2013.   과학기술학회마을   DOI   ScienceOn