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http://dx.doi.org/10.5391/JKIIS.2016.26.3.208

Simulation of Sensor Measurements for Location Estimation of an Underwater Vehicle  

Han, Jun Hee (Dept. Control and Inst. Eng. Chosun Univ.)
Ko, Nak Yong (Dept. Electronics Eng. Chosun Univ.)
Choi, Hyun Taek (Ocean System Engineering Research Division, KRISO)
Lee, Chong Moo (Ocean System Engineering Research Division, KRISO)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.26, no.3, 2016 , pp. 208-217 More about this Journal
Abstract
This paper describes a simulation method to generate sensor measurements for location estimation of an underwater robot. Field trial of a navigation method of an underwater robot takes much time and expenses and it is difficult to change the environment of the field trial as desired to test the method in various situations. Therefore, test and verification of a navigation method through simulation is inevitable for underwater environment. This paper proposes a method to generate sensor measurements of range, depth, velocity, and attitude taking the uncertainties of measurements into account through simulation. The uncertainties are Gaussian noise, outlier, and correlation between the measurement noise. Also, the method implements uncertainty in sampling time of measurements. The method is tested and verified by comparing the uncertainty parameters calculated statistically from the generated measurements with the designed uncertainty parameters. The practical feasibility of the measurement data is shown by applying the measurement data for location estimation of an underwater robot.
Keywords
Simulation; Sensor Measurement; Measurement Uncertainty; Underwater Robot; Gaussian Noise; Outlier; Correlation; Sampling Time Uncertainty;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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