Browse > Article
http://dx.doi.org/10.5762/KAIS.2021.22.3.352

Development of Underwater Positioning System using Asynchronous Sensors Fusion for Underwater Construction Structures  

Oh, Ji-Youn (Korea Institute of Ocean Science & Technology)
Shin, Changjoo (Korea Institute of Ocean Science & Technology)
Baek, Seungjae (Korea Institute of Ocean Science & Technology)
Jang, In Sung (Korea Institute of Ocean Science & Technology)
Jeong, Sang Ki (Korea Institute of Ocean Science & Technology)
Seo, Jungmin (Korea Institute of Ocean Science & Technology)
Lee, Hwajun (Korea Institute of Ocean Science & Technology)
Choi, Jae Ho (Korea Institute of Ocean Science & Technology)
Won, Sung Gyu (Vibroacoustics Total Solution)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.22, no.3, 2021 , pp. 352-361 More about this Journal
Abstract
An underwater positioning method that can be applied to structures for underwater construction is being developed at the Korea Institute of Ocean Science and Technology. The method uses an extended Kalman filter (EKF) based on an inertial navigation system for precise and continuous position estimation. The observation matrix was configured to be variable in order to apply asynchronous measured sensor data in the correction step of the EKF. A Doppler velocity logger (DVL) can acquire signals only when attached to the bottom of an underwater structure, and it is difficult to install and recover. Therefore, a complex sensor device for underwater structure attachment was developed without a DVL in consideration of an underwater construction environment, installation location, system operation convenience, etc.. Its performance was verified through a water tank test. The results are the measured underwater position using an ultra-short baseline, the estimated position using only a position vector, and the estimated position using position/velocity vectors. The results were compared and evaluated using the circular error probability (CEP). As a result, the CEP of the USBL alone was 0.02 m, the CEP of the position estimation with only the position vector corrected was 3.76 m, and the CEP of the position estimation with the position and velocity vectors corrected was 0.06 m. Through this research, it was confirmed that stable underwater positioning can be carried out using asynchronous sensors without a DVL.
Keywords
Asynchronous Sensors; Doppler Velocity Logger; Extended Kalman Filter; Sensor Fusion; Underwater Positioning;
Citations & Related Records
연도 인용수 순위
  • Reference
1 A. Tomczak, "Modern Methods of Underwater Positioning Applied in Subsea Mining", Gornictwo i Geoinzynieria, Vol. 35, No. 4/1, pp.381-394, 2011.
2 Z. Ma, Y. Ren, "Integrated Application of BIM and GIS: An Overview", Procedia Engineering, Vol. 196, pp.1072-1079, Jun. 2017. DOI: https://doi.org/10.1016/j.proeng.2017.08.064   DOI
3 Wikipedia, the free encyclopedia "Underwater acoustic positioning system", [cited 2020 September 17], Available From: https://en.wikipedia.org/wiki/Underwater_acoustic_positioning_system (accessed Oct. 2020)
4 M. Morgado, P. Oliveira, C. Silvestre, J. F. Vasconcelos, "USBL/INS Integration Technique for Underwater Vehicles", Proceedings of the 7th IFAC Conference on Manoeuvring and Control of Marine Craft, International Federation of Automatic Control(IFAC), Lisbon, Portugal, Sep. 2006.
5 L. Zhou, A Precise Underwater Acoustic Positioning Method Based on Phase Measurement, Master's thesis, University of Victoria, pp.2-3, 2010
6 H. Liu, Z. Wang, R. Shan, K. He and S. Zhao, "Research into the integrated navigation of a deep sea towed vehicle with USBL/DVL and pressure gauge", Applied Acoustics, Vol. 159, No. 2, 2020. DOI: https://doi.org/10.1016/j.apacoust.2019.107052   DOI
7 H. M. Manik, D. A. Gultom, Firdaus, L. Elson, "Evaluation of ADCP backscatter computation for quantifying suspended sediment concentration", IOP Conference Series: Earth and Environmental Science, Vol. 429, Feb. 2020 DOI: https://doi.org/10.1088/1755-1315/429/1/012035   DOI
8 K. H. Kim, H. T. Choi, S. M. Kim, P. M. Lee, C. M. Lee, S. K. Cho, "Implementation of Deep-sea UUV precise Underwater Navigation based on Multiple Sensor Fusion", Journal of Ocean Engineering and Technology, Vol. 24, No.3, pp.46-51, 2010.
9 P. M. Lee, H. W. Shim, H. Baek, B. H. Kim, J. Y. Park, B. H. Jun, S. Y. Yoo, "Navigation System for a Deep-sea ROV Fusing USBL, DVL, and Heading Measurements", Journal of Ocean Engineering and Technology, Vol. 31, No. 4, pp.315-323, 2017. DOI: https://doi.org/10.26748/KSOE.2017.08.31.4.315   DOI
10 B. Allotta, R. Costanzi, E. Meli, L. Pusi, A. Ridolfi, G. Vettori, "Cooperative localization of a team of AUVs by a tetrahedral configuration", Robotics and Autonomous Systems, Vol. 62, No. 8, pp.1228-1237, 2014. DOI: https://doi.org/10.1016/j.robot.2014.03.004   DOI
11 A. Noureldin, T. B. Karamat and J. Georgy, Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration, p.313, Springer, 2013, pp.167-200
12 M. Zhang, K. Li, B. Hu and C. Meng, "Comparison of Kalman Filters for Inertial Integrated Navigation", Sensors, Vol. 19, No. 6, 2019. DOI: https://doi.org/10.3390/s19061426   DOI