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http://dx.doi.org/10.5302/J.ICROS.2014.13.1973

Reduced Error Model for Integrated Navigation of Unmanned Autonomous Underwater Vehicle  

Park, Yong-Gonjong (Department of Mechanical and Aerospace Eng./Automation and Systems Research Institute, Seoul National University)
Kang, Chulwoo (Department of Mechanical and Aerospace Eng./Automation and Systems Research Institute, Seoul National University)
Lee, Dal Ho (Department of Electronic Eng, Gachon University)
Park, Chan Gook (Department of Mechanical and Aerospace Eng./Automation and Systems Research Institute, Seoul National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.5, 2014 , pp. 584-591 More about this Journal
Abstract
This paper presents a novel aided navigation method for AUV (Autonomous Underwater Vehicles). The navigation system for AUV includes several sensors such as IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and depth sensor. In general, the $13^{th}$ order INS error model, which includes depth error, velocity error, attitude error, and the accelerometer and gyroscope biases as state variables is used with measurements from DVL and depth sensors. However, the model may degrade the estimation performance of the heading state. Therefore, the $11^{th}$ INS error model is proposed. Its validity is verified by using a degree of observability and analyzing steady state error. The performance of the proposed model is shown by the computer simulation. The results show that the performance of the reduced $11^{th}$ order error model is better than that of the conventional $13^{th}$ order error model.
Keywords
integrated navigation; Doppler velocity log; inertial navigation; reduced order equation;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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