Browse > Article
http://dx.doi.org/10.7746/jkros.2015.10.1.001

Localization of the surface vehicles using DWT and GPS/INS fusion algorithm  

Yoo, Han-Dong (Electronic Engineering, Pusan National University)
Lee, In-Uk (Electronic Engineering, Pusan National University)
Choi, Won-Suck (Electronic Engineering, Pusan National University)
Lee, Jang-Myung (Electronic Engineering, Pusan National University)
Publication Information
The Journal of Korea Robotics Society / v.10, no.1, 2015 , pp. 1-8 More about this Journal
Abstract
This paper proposes a study for accurate surface localization system using DWT(Discrete Wavelet Transform) and GPS/INS fusion algorithm. Because the propagation in the underwater is not passed by characteristics of the medium unlike the ground, the sonar system like DVL is used instead of GPS. But since these systems are installed on the seafloor and operated, a long time is required for installation and navigation systems are limited outside of the range area. And it is difficult to estimate position in a three-dimensional considering the depth in actual marine environment. In this paper, before the development of underwater localization system, precisely estimated position system is proposed in a two-dimensional by developing surface localization system using removing noise and disturbance with DWT and relatively inexpensive GPS and INS sensor.
Keywords
Discrete Wavelet; Kalman filter; Localization; Navigation; Sensor Fusion;
Citations & Related Records
Times Cited By KSCI : 11  (Citation Analysis)
연도 인용수 순위
1 S. P. Kim., "Understanding of Kalman filter (Using MATLAB)," AhJin Books (in Korean), 978895761304, 2010
2 J. H. Lim, C. U. Kang, "3-D Localization of an Autonomous Underwater Vehicle Using Extended Kalman Filter", Journal of the Korea Society of Precision Engineering, Vol. 21, No. 7, pp.130-743, October 2012   과학기술학회마을
3 S. H. Choi, Y. K. Kim, Y. S. Hwang, H. W. Kim and J. M. Lee, "EKF Based Outdoor Positioning System using Multiple GPS Receivers", Journal of the Korea Robotics Society, Vol. 8, No. 2, pp.129-135, Jun 2013   과학기술학회마을   DOI   ScienceOn
4 S. H. Park, J. H. Lee, S. W. Kim, J. H. Lim and J. Y. Ryu, "Moving Distance Measurement System using a Accelerometer Sensor", Journal of The Korea Institute of Information and Communication Engineering, vol. 16, no.6, pp.1300-1305, June, 2012.   과학기술학회마을   DOI
5 K. G. Kim, C. H. Park, M. J. Yu and Y. B. Park, "A Performance Comparison of Extended and Unscented Kalman Filter for INS/GPS Tightly Coupled Approach", Journal of Control, Automation, and Systems Engineering, Vol. 12, No. 8, pp.780-788 2006   DOI
6 S. W. Noh, N. Y. Ko, and T. G. Kim, "Implementation of Bayesian Filter Method and Range Measurement Analysis for Underwater Robot Localization", Journal of the Korea Robotics Society, Vol. 9, No. 1, pp.28-38, Feb 2014   과학기술학회마을   DOI
7 J. W. Seo, H. H. Lee, J. G. Lee, and C.G. Park, "Lever Arm Compensation for GPS/INS/Odometer Integrated System", IJCAS, Vol. 4, No. 2, pp.247-254, April 2006
8 S. B. Chun, M. B. Heo, "Performance Improvement of Azimuth Estimation in Low Cost MEMS IMU based INS/GPS Integrated Navigation System", The Journal of Korea Navigation Institute, Vol. 16, No. 5, pp.738-743, January 1998   과학기술학회마을   DOI
9 I. S. Lee, J. Y. Kim, E. K. Jung, K. H. Jung, J. M. Kim, and S. S. Kim, "Sensitivity Optimization of MEMS Gyroscope for Magnet-gyro Guidance System", Journal of the Korea Robotics Society, Vol. 8, No. 1, pp.29-36, March 2013   과학기술학회마을   DOI
10 G. T. Schmidt, "INS/GPS technology trends," NATO Research and Technology Organization, pp.1-16, May 2009.
11 S. W. Byun, J. Y. Kim, Y. S. Joo, J. S, Woo, "Development of Underwater Position System using Short Base Line", Conference of Korea Unmanned Underwater Vehicle, May, 2008.
12 M. G. Kim and Y. D. Kim, "Multiple UAVs Nonlinear Guidance Laws for Stationary Target Observation with Waypoint Incidence Angle Constraint", Int'l J. of Aeronautical & Space Sci, Vol.14, No.1, pp.67-74, 2013   DOI
13 J. H. Lee, H. S. Kim, "A Study of High Precision Position Estimator Using GPS/INS Sensor Fusion", Journal of The Institute of Electronics Engineers of Korea, Vol. 49, No. 11, November 2012   과학기술학회마을   DOI   ScienceOn
14 Y. Xu et al., "Wavelet transform domain filters : A spatially selective noise filtration technique", IEEE Trans. Image Processing, vol. 3, Nov.1994
15 S. H. Lee and D. H. Yoon, "Wavelet transform (Well Defined)", 2nd Ed., JinHan Books (in Korean), 8984321109, 2003
16 B. D. Yoon, H. N. Yoon, S. H. Choi, J. M. Lee, "Estimated Position of Sea-Surface Beacon Using DWT/UKF", Journal of Institute of Control, Robotics and Systems, Vol. 19, No. 4, pp. 341-348, 2013.   DOI
17 H. B. Kang, D. K. Kin, J. K. Seo, "Wavelet Theory and Its Applications", DaeWoo 509 (in Korean), 2001.